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ethz-asl / maplab

A Modular and Multi-Modal Mapping Framework
https://maplab.asl.ethz.ch
Apache License 2.0
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How do I modify the threshold #161

Closed wangyuanbiubiubiu closed 4 years ago

wangyuanbiubiubiu commented 5 years ago

I want to change some thresholds in the file（maplab_ws/src/maplab/algorithms/map-sparsification/src/keyframe-pruning.cc）, such as FLAGS_kf_distance_threshold_m,However, I cannot find the specific configuration file location of this file. I would like to ask, I want to change the default value of this parameter, where should I go to change it?

dymczykm commented 4 years ago

@wangyuanbiubiubiu The defaults are here: https://github.com/ethz-asl/maplab/blob/master/algorithms/map-sparsification/src/keyframe-pruning.cc#L13-L19 but you should consider just setting parameters yourself using flags, e.g. when using the maplab console you can write a command:

kfh --kf_distance_threshold_m=<your_value> --kf_rotation_threshold_deg=<your_value>

and similar for other flags.