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Added parameter Kp/NewWordsComparedTogether for dictionary, always true but when comparing loop closures with Reextracting features, it is set to false to save time.

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fixed crash when calling getMap without rtabmap yet initialized.
Parameter "LccReextract/LoopClosureFeatures" is now named "LccReextract/Activated"


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1855 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-14 21:48:50 +00:00
parent 39a9c4ebd8
commit 22ce2525fc
7 changed files with 86 additions and 58 deletions
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2
corelib/src/util3d.cpp
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@@ -1879,7 +1879,7 @@ void optimizeTOROGraph(
"TORO is not able to find the root of the graph!)");
pg.initializeOptimization();
UDEBUG("TORO iterate begin");
UDEBUG("TORO iterate begin (iterations=%d)", toroIterations);
for (int i=0; i<toroIterations; i++)
{
if(intermediateGraphes && (toroInitialGuess || i>0))