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updated az3_nav.launch

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matlabbe
2016-06-06 11:55:04 -04:00
parent 5c8b201c93
commit e76bfa07b2
1 changed files with 3 additions and 2 deletions
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launch/azimut3/az3_nav.launch
+3 -2
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@@ -46,7 +46,7 @@
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/> <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Mem/NotLinkedNodesKept" type="string" value="false"/> <param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
<param name="Mem/ImageDecimation" type="string" value="4"/> <param name="Mem/ImagePostDecimation" type="string" value="4"/>
<param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="false"/> <param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="false"/>
<param name="Rtabmap/TimeThr" type="string" value="600"/> <param name="Rtabmap/TimeThr" type="string" value="600"/>
@@ -56,7 +56,7 @@
<param name="Optimizer/Slam2D" type="string" value="true"/> <param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/> <param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="Optimizer/Strategy" type="string" value="1"/> <param name="Optimizer/Strategy" type="string" value="0"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <param name="Kp/DetectorStrategy" type="string" value="0"/>
<param name="Kp/MaxFeatures" type="string" value="200"/> <param name="Kp/MaxFeatures" type="string" value="200"/>
@@ -65,6 +65,7 @@
<param name="Reg/Force3DoF" type="string" value="true"/> <param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Vis/MaxDepth" type="string" value="5"/> <param name="Vis/MaxDepth" type="string" value="5"/>
<param name="Vis/MinInliers" type="string" value="5"/> <param name="Vis/MinInliers" type="string" value="5"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.3"/>
<!-- localization mode --> <!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/> <param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>