How to improve the relocation frequency

[wangyuanbiubiubiu]

I've tested the repositioning and it's great, with a high recall rate. But I also want to ask, how can I improve the frequency of relocation?

[dymczykm]

@wangyuanbiubiubiu this flag here https://github.com/ethz-asl/maplab/blob/master/applications/rovioli/src/synced-nframe-throttler.cc#L5 is throttling the localizer to 1Hz to save compute. You can consider changing it's value to a higher frequency.

Hope that helps.