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RGBD/LinearUpdate and RGBD/AngularUpdate: updated description and now require both to be 0 to skip motion check.

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matlabbe
2025-10-28 20:56:54 -07:00
parent 1def668578
commit 210aadb92b
7 changed files with 18 additions and 11 deletions
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corelib/include/rtabmap/core/Parameters.h
+2 -2
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@@ -362,8 +362,8 @@ class RTABMAP_CORE_EXPORT Parameters
// RGB-D SLAM
RTABMAP_PARAM(RGBD, Enabled, bool, true, "Activate metric SLAM. If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information.");
RTABMAP_PARAM(RGBD, LinearUpdate, float, 0.1, "Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated.");
RTABMAP_PARAM(RGBD, AngularUpdate, float, 0.1, "Minimum angular displacement (rad) to update the map. Rehearsal is done prior to this, so weights are still updated.");
RTABMAP_PARAM(RGBD, LinearUpdate, float, 0.1, uFormat("Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()));
RTABMAP_PARAM(RGBD, AngularUpdate, float, 0.1, uFormat("Minimum angular displacement (rad) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()));
RTABMAP_PARAM(RGBD, LinearSpeedUpdate, float, 0.0, "Maximum linear speed (m/s) to update the map (0 means not limit).");
RTABMAP_PARAM(RGBD, AngularSpeedUpdate, float, 0.0, "Maximum angular speed (rad/s) to update the map (0 means not limit).");
RTABMAP_PARAM(RGBD, AggressiveLoopThr, float, 0.05, uFormat("Loop closure threshold used (overriding %s) when a new mapping session is not yet linked to a map of the highest loop closure hypothesis. In localization mode, this threshold is used when there are no loop closure constraints with any map in the cache (%s). In all cases, the goal is to aggressively loop on a previous map in the database. Only used when %s is enabled. Set 1 to disable.", kRtabmapLoopThr().c_str(), kRGBDMaxOdomCacheSize().c_str(), kRGBDEnabled().c_str()));