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Kp/ByteToFloat: Changed default of false

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Based on http://official-rtab-map-forum.67519.x6.nabble.com/ZED2-rtabmap-loop-closure-and-twisted-map-tp6986p7002.html
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matlabbe
2020-10-12 11:04:59 -04:00
committed by GitHub
parent bedc771fa4
commit 304c365ae6
1 changed files with 1 additions and 1 deletions
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corelib/include/rtabmap/core/Parameters.h
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@@ -236,7 +236,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Kp, IncrementalDictionary, bool, true, "");
RTABMAP_PARAM(Kp, IncrementalFlann, bool, true, uFormat("When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary increases of the factor \"%s\" in size).", kKpFlannRebalancingFactor().c_str()));
RTABMAP_PARAM(Kp, FlannRebalancingFactor, float, 2.0, uFormat("Factor used when rebuilding the incremental FLANN index (see \"%s\"). Set <=1 to disable.", kKpIncrementalFlann().c_str()));
RTABMAP_PARAM(Kp, ByteToFloat, bool, true, uFormat("For %s=1, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching.", kKpNNStrategy().c_str()));
RTABMAP_PARAM(Kp, ByteToFloat, bool, false, uFormat("For %s=1, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching.", kKpNNStrategy().c_str()));
RTABMAP_PARAM(Kp, MaxDepth, float, 0, "Filter extracted keypoints by depth (0=inf).");
RTABMAP_PARAM(Kp, MinDepth, float, 0, "Filter extracted keypoints by depth.");
RTABMAP_PARAM(Kp, MaxFeatures, int, 500, "Maximum features extracted from the images (0 means not bounded, <0 means no extraction).");