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matlabbe
2016-03-09 19:16:15 -05:00
parent a4dfe5a21e
commit b67f338699
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launch/demo/demo_robot_mapping.launch
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@@ -37,7 +37,7 @@
<param name="RGBD/ProximityByTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM --> <param name="RGBD/ProximityByTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/> <param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="Reg/Force3DoF" type="string" value="true"/> <param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Reg/Strategy" type="string" value="1"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D --> <param name="Reg/Strategy" type="string" value="1"/> <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance --> <param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated --> <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
<param name="Optimizer/Slam2D" type="string" value="true"/> <param name="Optimizer/Slam2D" type="string" value="true"/>