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fixed incremental memory when reextracting features

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1956 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-11-02 17:14:05 +00:00
parent a3b29eaf4f
commit 080f31c8be
1 changed files with 3 additions and 1 deletions
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4
corelib/src/Rtabmap.cpp
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@@ -1278,11 +1278,13 @@ bool Rtabmap::process(const SensorData & data)
std::string rejectedMsg;
if(_reextractLoopClosureFeatures)
{
ParametersMap customParameters = _lastParameters;
ParametersMap customParameters = _lastParameters; // get BOW LCC parameters
// override some parameters
uInsert(customParameters, ParametersPair(Parameters::kMemIncrementalMemory(), "true")); // make sure it is incremental
uInsert(customParameters, ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
uInsert(customParameters, ParametersPair(Parameters::kMemImageKept(), "false"));
uInsert(customParameters, ParametersPair(Parameters::kMemSTMSize(), "0"));
uInsert(customParameters, ParametersPair(Parameters::kKpIncrementalDictionary(), "true")); // make sure it is incremental
uInsert(customParameters, ParametersPair(Parameters::kKpNewWordsComparedTogether(), "false"));
uInsert(customParameters, ParametersPair(Parameters::kKpNNStrategy(), uNumber2Str(_reextractNNType))); // bruteforce
uInsert(customParameters, ParametersPair(Parameters::kKpNndrRatio(), uNumber2Str(_reextractNNDR)));