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reprocess: set Mem/UseOdomFeatures to false if Kp/DetectorStrategy or Vis/FeatureType is overwritten (#566)

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matlabbe
2020-07-06 13:31:01 -04:00
parent 55228aa574
commit 3505611fb5
1 changed files with 21 additions and 0 deletions
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tools/Reprocess/main.cpp
+21
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@@ -308,6 +308,27 @@ int main(int argc, char * argv[])
printf(" %s\t= %s\n", iter->first.c_str(), iter->second.c_str());
}
}
if((configParameters.find(Parameters::kKpDetectorStrategy())!=configParameters.end() ||
configParameters.find(Parameters::kVisFeatureType())!=configParameters.end() ||
customParameters.find(Parameters::kKpDetectorStrategy())!=customParameters.end() ||
customParameters.find(Parameters::kVisFeatureType())!=customParameters.end()) &&
configParameters.find(Parameters::kMemUseOdomFeatures())==configParameters.end() &&
customParameters.find(Parameters::kMemUseOdomFeatures())==customParameters.end())
{
bool useOdomFeatures = Parameters::defaultMemUseOdomFeatures();
Parameters::parse(parameters, Parameters::kMemUseOdomFeatures(), useOdomFeatures);
if(useOdomFeatures)
{
printf("[Warning] %s and/or %s are overwritten but parameter %s is true in the opened database. "
"Setting it to false for convenience to use the new selected feature detector. Set %s "
"explicitly to suppress this warning.\n",
Parameters::kKpDetectorStrategy().c_str(),
Parameters::kVisFeatureType().c_str(),
Parameters::kMemUseOdomFeatures().c_str(),
Parameters::kMemUseOdomFeatures().c_str());
uInsert(parameters, ParametersPair(Parameters::kMemUseOdomFeatures(), "false"));
}
}
uInsert(parameters, configParameters);
uInsert(parameters, customParameters);