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New parameter: Rtabmap/StartNewMapOnLoopClosure, when activated and creating a new map, the nodes of the new map will be ignored until a loop closure is found.

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1812 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-10-01 19:52:46 +00:00
parent 9559eee614
commit 317d382a24
6 changed files with 97 additions and 57 deletions
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1
corelib/include/rtabmap/core/Parameters.h
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@@ -143,6 +143,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Rtabmap, MaxRetrieved, unsigned int, 2, "Maximum locations retrieved at the same time from LTM.");
RTABMAP_PARAM(Rtabmap, StatisticLogsBufferedInRAM, bool, true, "Statistic logs buffered in RAM instead of written to hard drive after each iteration.");
RTABMAP_PARAM(Rtabmap, StatisticLogged, bool, false, "Logging enabled.");
RTABMAP_PARAM(Rtabmap, StartNewMapOnLoopClosure, bool, false, "Start a new map only if there is a global loop closure with a previous map.")
// Hypotheses selection
RTABMAP_PARAM(Rtabmap, LoopThr, float, 0.11, "Loop closing threshold.");

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -173,6 +173,7 @@ private:
float _reextractNNDR;
int _reextractFeatureType;
int _reextractMaxWords;
bool _startNewMapOnLoopClosure;
int _lcHypothesisId;
float _lcHypothesisValue;