Updated config file for ed_sensor_integration Map_Anything algorithm

Author: IasonTheodorou

parameters/world_modeling/world_model_plugin_rgbd.yaml

@@ -4,11 +4,16 @@ enabled: 1
 parameters:
     topic: /hero/head_rgbd_sensor/rgbd
     updater:
+
       segmenter:
+        #yolo
+        yolo_model: "/home/amigo/ros/noetic/repos/github.com/tue-robotics/yolo_onnx_ros/data/yolo11m.onnx"
+        sam_encoder: "/home/amigo/Documents/repos/hero_sam.bak/sam_inference/model/SAM_encoder.onnx"
+        sam_decoder: "/home/amigo/Documents/repos/hero_sam.bak/sam_inference/model/SAM_mask_decoder.onnx"
         #gmm:
         alpha: 1.0 # GMM alpha parameter (weights of the clusters 1 = uniform)
         kappa0: 0 # Weak prior on the mean (how much we trust the prior)
-        psi0: 0.002 # Covariance prior (scale assumes spherical clusters)
+        psi0: 0.05 # Covariance prior (scale assumes spherical clusters)
         nu0: 4.0 # Covariance strength
 
         eps: 0.02 # DBSCAN epsilon parameter in cm (maximum distance between points in acluster)