git update

src/ground_slam/configs/config_geekplus.yaml

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+dataset:
+  dataroot: "/home/zheng/datasets/loopclosure/"
+  camera_config: "/home/zheng/datasets/loopclosure/camera.yaml"
+  image_dir_name: ""
+
+correlation_flow:
+  width: 448
+  height: 448 
+  rotation_divisor: 720 #720 # Higher means higher resolution, but slower
+  rotation_channel: 480 #480 # Lower means faster. Too lower, e.g., less than 10, may produce error about 1/rotation_divisor*360 degrees. 64 may work well.
+  lambda: 0.1 # For regularization
+  kernel: 0 #1 # {0: "polynomial", 1: "gaussian"}
+  polynomial: # (X^T Y + offset).pow(power)
+    offset: 0.1
+    power: 3
+  gaussian: # exp(-(|X-Y|^2/(2*sigma^2)))
+    sigma: 0.2 # For Gaussian Kernel
+
+keyframe_selection:
+  to_find_loop: true
+  max_distance: 0.2  # in normalized plane, real size equal max_distance*camera_height
+  max_angle: 0.5  # rad
+  lower_response_thr: 30
+  upper_response_thr: 60
+
+map:
+  grid_scale: 0.1 # the true size of one grid
+
+loop_closure:
+  to_find_loop: true
+  position_response_thr: 60 # this should be tuned together with width and height: higher width*height -> higher threshold
+  angle_response_thr: 60 # this should be tuned together with rotation_divisor and rotation_channel: higher divisor*channel -> higher threshold
+  frame_gap_thr: 100
+  distance_thr: 5  # in normalized plane, real size equal distance_thr*camera_height
+
+map_sticther:
+  stitch_map: true  # whether to stitch map
+  cell_size: 1000
+
+visualization:
+  frame_id: "map"
+  topic:
+    image: /kcc_slam/undistort_image
+    kcc_pose: "/kcc_slam/kcc_pose"
+    frame_pose: "/kcc_slam/frame_pose"
+    map: "/kcc_slam/occupancy_map"
+
+saving:
+  save_pose: true
+  saving_root: "/home/zheng/projects/ros_ws/src/kcc_slam/saving/experiments"