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Added Mem/ImageCompressionFormat parameter (default .jpg)

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matlabbe
2019-02-11 15:23:38 -05:00
parent 99944b1d49
commit 38b8746507
5 changed files with 118 additions and 142 deletions
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corelib/include/rtabmap/core/Memory.h
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@@ -287,6 +287,7 @@ private:
bool _saveDepth16Format;
bool _notLinkedNodesKeptInDb;
bool _saveIntermediateNodeData;
std::string _rgbCompressionFormat;
bool _incrementalMemory;
bool _reduceGraph;
int _maxStMemSize;

1
corelib/include/rtabmap/core/Parameters.h
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@@ -204,6 +204,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, SaveDepth16Format, bool, false, "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).");
RTABMAP_PARAM(Mem, NotLinkedNodesKept, bool, true, "Keep not linked nodes in db (rehearsed nodes and deleted nodes).");
RTABMAP_PARAM(Mem, IntermediateNodeDataKept, bool, false, "Keep intermediate node data in db.");
RTABMAP_PARAM_STR(Mem, ImageCompressionFormat, ".jpg", "RGB image compression format. It should be \".jpg\" or \".png\".");
RTABMAP_PARAM(Mem, STMSize, unsigned int, 10, "Short-term memory size.");
RTABMAP_PARAM(Mem, IncrementalMemory, bool, true, "SLAM mode, otherwise it is Localization mode.");
RTABMAP_PARAM(Mem, ReduceGraph, bool, false, "Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set).");