Missing use_odom_factors parameter in parameter files

ethz-asl / segmap

A map representation based on 3D segments

BSD 3-Clause "New" or "Revised" License

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Missing use_odom_factors parameter in parameter files #44

Closed vkee closed 7 years ago

vkee commented 7 years ago

I think the use_odom_factors parameters is not set anywhere, if I am not mistaken? I don't see it in kitti_loop_closure.yaml or kitti_localization.yaml.

vkee commented 7 years ago

Is this normally not set / set to false so odometry factors are not created for some stability reasons? laser mapper seems to occasionally crash and have to respawn.

rdube commented 7 years ago

@vkee good catch! This parameter should be set to true for the current demonstration. Would you like to open a quick PR by adding this parameter? As mentioned before this parameter was added to experiment with LiDAR only odometry for our newest SegMatch version which will be uploaded later this year.

vkee commented 7 years ago

@rdube done.

rdube commented 7 years ago

@vkee great thank you!