holoocean.txt

[tahaaideveloper]

Hi, Thank you for this good repository.

How can i initialize the parameters in holoocean.txt file?

--col_threshold ?
--row_threshold ?
--exclude_recent_nodes ?

[hogyun2]

I appreciate your interest in our project.

The sonar context goes through two rounds of similarity validation. (column direction, row direction)
Therefore, we need a different threshold for each column and row direction in place recognition.
The col_threshold and row_threshold refer to this threshold respectively.

The most recently visited node at the robot's current location is more likely to be recognized as a revisit due to its high similarity.
To avoid this, we define exclude_recent_nodes as the number of recent nodes to exclude as candidates for revisited places.