feat(slam): add rtabmap_ros
This commit is contained in:
X-lanni
@@ -0,0 +1,188 @@
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[General]
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windowGeometry=@ByteArray(\x1\xd9\xd0\xcb\0\x3\0\0\0\0\x4\x34\0\0\x1\x8e\0\0\x6\x9a\0\0\x4\x5\0\0\x4\x34\0\0\x1\xb3\0\0\x6\x9a\0\0\x4\x5\0\0\0\0\0\0\0\0\a\x80\0\0\x4\x34\0\0\x1\xb3\0\0\x6\x9a\0\0\x4\x5)
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windowState=@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xda\0\0\x2'\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x62\0j\0\x65\0\x63\0t\0s\x1\0\0\0\x16\0\0\x2'\0\0\0\xc4\0\xff\xff\xff\0\0\0\x1\0\0\x1h\0\0\x1\x86\xfc\x2\0\0\0\x2\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0\x61\0r\0\x61\0m\0\x65\0t\0\x65\0r\0s\0\0\0\0\x16\0\0\x1\x86\0\0\0\xa8\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0i\0s\0t\0i\0\x63\0s\0\0\0\0\0\xff\xff\xff\xff\0\0\x1\x35\0\xff\xff\xff\0\0\0\x3\0\0\0\0\0\0\0\0\xfc\x1\0\0\0\x1\xfb\0\0\0\x1e\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0l\0o\0t\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\0\0\x1\x87\0\0\x2'\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0)
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[Camera]
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1deviceId=0
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2imageWidth=640
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3imageHeight=480
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4imageRate=0
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5mediaPath=
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6useTcpCamera=false
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7IP=127.0.0.1
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8port=5000
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9queueSize=1
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[Feature2D]
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1Detector="5:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE;SuperPointTorch"
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2Descriptor="2:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY;SuperPointTorch"
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3MaxFeatures=0
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4Affine=false
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5AffineCount=6
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6SubPix=false
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7SubPixWinSize=3
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8SubPixIterations=30
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9SubPixEps=0.02
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AGAST_nonmaxSuppression=true
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AGAST_threshold=10
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AKAZE_descriptorChannels=3
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AKAZE_descriptorSize=0
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AKAZE_nOctaveLayers=4
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AKAZE_nOctaves=4
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AKAZE_threshold=0.001
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BRISK_octaves=3
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BRISK_patternScale=1
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BRISK_thresh=30
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Brief_bytes=32
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DAISY_interpolation=true
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DAISY_q_hist=8
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DAISY_q_radius=3
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DAISY_q_theta=8
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DAISY_radius=15
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DAISY_use_orientation=false
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Dense_featureScaleLevels=1
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Dense_featureScaleMul=0.1
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Dense_initFeatureScale=1
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Dense_initImgBound=0
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Dense_initXyStep=6
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Dense_varyImgBoundWithScale=false
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Dense_varyXyStepWithScale=true
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FREAK_nOctaves=4
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FREAK_orientationNormalized=true
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FREAK_patternScale=22
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FREAK_scaleNormalized=true
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Fast_gpu=false
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Fast_keypointsRatio=0.05
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Fast_maxNpoints=5000
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Fast_nonmaxSuppression=true
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Fast_threshold=10
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GFTT_blockSize=3
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GFTT_k=0.04
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GFTT_maxCorners=1000
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GFTT_minDistance=1
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GFTT_qualityLevel=0.01
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GFTT_useHarrisDetector=false
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KAZE_extended=false
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KAZE_nOctaveLayers=4
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KAZE_nOctaves=4
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KAZE_threshold=0.001
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KAZE_upright=false
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LATCH_bytes=32
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LATCH_half_ssd_size=3
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LATCH_rotationInvariance=true
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LUCID_blur_kernel=2
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LUCID_kernel=1
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MSER_areaThreshold=1.01
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MSER_delta=5
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MSER_edgeBlurSize=5
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MSER_maxArea=14400
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MSER_maxEvolution=200
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MSER_maxVariation=0.25
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MSER_minArea=60
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MSER_minDiversity=0.2
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MSER_minMargin=0.003
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ORB_WTA_K=2
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ORB_blurForDescriptor=false
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ORB_edgeThreshold=31
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ORB_firstLevel=0
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ORB_gpu=false
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ORB_nFeatures=500
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ORB_nLevels=8
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ORB_patchSize=31
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ORB_scaleFactor=1.2
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ORB_scoreType=0
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SIFT_contrastThreshold=0.04
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SIFT_edgeThreshold=10
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SIFT_nOctaveLayers=3
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SIFT_nfeatures=0
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SIFT_rootSIFT=false
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SIFT_sigma=1.6
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SURF_extended=true
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SURF_gpu=false
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SURF_hessianThreshold=600
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SURF_keypointsRatio=0.01
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SURF_nOctaveLayers=2
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SURF_nOctaves=4
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SURF_upright=false
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Star_lineThresholdBinarized=8
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Star_lineThresholdProjected=10
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Star_maxSize=45
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Star_responseThreshold=30
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Star_suppressNonmaxSize=5
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SuperPointTorch_NMS=true
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SuperPointTorch_NMS_radius=4
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SuperPointTorch_cuda=false
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SuperPointTorch_modelPath=
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SuperPointTorch_threshold=0.2
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[%General]
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autoPauseOnDetection=false
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autoScreenshotPath=
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autoScroll=true
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autoStartCamera=false
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autoUpdateObjects=true
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controlsShown=false
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debug=false
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imageFormats=*.png *.jpg *.bmp *.tiff *.ppm
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invertedSearch=true
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mirrorView=false
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multiDetection=false
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multiDetectionRadius=30
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nextObjID=9
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port=0
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sendNoObjDetectedEvents=false
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threads=1
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videoFormats=*.avi *.m4v *.mp4
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vocabularyFixed=false
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vocabularyIncremental=false
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vocabularyUpdateMinWords=2000
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[Homography]
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allCornersVisible=false
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confidence=0.995
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homographyComputed=true
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ignoreWhenAllInliers=false
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maxIterations=2000
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method="1:LMEDS;RANSAC;RHO"
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minAngle=50
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minimumInliers=10
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opticalFlow=false
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opticalFlowEps=0.01
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opticalFlowIterations=30
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opticalFlowMaxLevel=3
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opticalFlowWinSize=16
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ransacReprojThr=5
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rectBorderWidth=4
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[NearestNeighbor]
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1Strategy="1:Linear;KDTree;KMeans;Composite;Autotuned;Lsh;BruteForce"
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2Distance_type="0:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING"
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3nndrRatioUsed=true
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4nndrRatio=0.8
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5minDistanceUsed=false
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6minDistance=1.6
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7ConvertBinToFloat=false
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7search_checks=32
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8search_eps=0
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9search_sorted=true
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Autotuned_build_weight=0.01
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Autotuned_memory_weight=0
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Autotuned_sample_fraction=0.1
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Autotuned_target_precision=0.8
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BruteForce_gpu=false
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Composite_branching=32
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Composite_cb_index=0.2
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Composite_centers_init="0:RANDOM;GONZALES;KMEANSPP"
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Composite_iterations=11
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Composite_trees=4
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KDTree_trees=4
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KMeans_branching=32
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KMeans_cb_index=0.2
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KMeans_centers_init="0:RANDOM;GONZALES;KMEANSPP"
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KMeans_iterations=11
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Lsh_key_size=20
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Lsh_multi_probe_level=2
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Lsh_table_number=12
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search_checks=32
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search_eps=0
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search_sorted=true
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