Parameter Setting for Kintinuous

[kaiwei1991]

Thanks a lot for providing kintinuous！

I tested the code you provided, but couldn't get the same results as the article.
For example, I ran the code with ”-s 7 -v ./vocab.yml.gz -l ./*.klg -ri -fl -od -m -f -dg 0.1” and got 0.128m of RMSE for fr2/desk dataset. But it is 0.034m in the article “Real-time large scale dense RGB-D SLAM with volumetric fusion”.

How should I adjust the parameters to get the same results in the article?