search

introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
Other
2.74k stars 779 forks source link

rtabmap parameter problem in 0.21.4 #1236

Closed qetuo105487900 closed 6 months ago

qetuo105487900 commented 6 months ago

i see rtabmap_ros/rtabmap_demos/demo_husky.launch

there are some parameter can not found in RTAB-Map: 0.21.4 but i found some similar parameter, are they same parameter ?

Icp/PMOutlierRatio vs Icp/OutlierRatio Icp/PointToPlaneNormalK vs Icp/PointToPlaneK

thanks!

matlabbe commented 6 months ago

You can use the old names and they will work, but you will have a warning message to know to which new ones you should use.

The new name for Icp/PMOutlierRatio is Icp/OutlierRatio: https://github.com/introlab/rtabmap/blob/57b4954cb355efe2dc8f5035896d82f7977868bc/corelib/src/Parameters.cpp#L257

For Icp/PointToPlaneNormalK, I think there is an error, it should indeed be Icp/PointToPlaneK. The default is 5 while the husky demo set it to 10, maybe why that bug passed unnoticed. I fixed the typo.

qetuo105487900 commented 6 months ago

@matlabbe , thanks!