Official RTAB-Map Forum - Re: ./rtabmap-console with SIFT or ORB

Re: ./rtabmap-console with SIFT or ORB

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-console-with-SIFT-or-ORB-tp94p95.html

SIFT:
$ ./rtabmap-console -Kp/DetectorStrategy 1 -Kp/NNStrategy 1 -Kp/NndrRatio 0.8
ORB:
$ ./rtabmap-console -Kp/DetectorStrategy 2 -Kp/NNStrategy 3 -Kp/NndrRatio 0.9

Kp/DetectorStrategy : "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK."
Kp/NNStrategy : "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4"
Kp/NndrRatio : "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)"

Parameters that can be set:

$ ./rtabmap-console -default_params

Description of the parameters can be found in Parameters.h. Some examples on the loop closure detection benchmark page.