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OdomF2M: added Odom/KeyFrameThr=0.5 and OdomF2M/MaxNewFeatures=0 parameters. Set Odom/GuessMotion to false by default.

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matlabbe
2016-03-01 20:47:46 -05:00
parent b6fb947310
commit 264146d8b3
10 changed files with 180 additions and 100 deletions
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corelib/src/Memory.cpp
+1 -1
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@@ -3167,7 +3167,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
UDEBUG("Intermediate node detected, don't extract features!");
}
}
else if(!isIntermediateNode)
else if(_feature2D->getMaxFeatures() >= 0 && !isIntermediateNode)
{
UINFO("Use odometry features");
keypoints = data.keypoints();