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Parameters: Mem/LaserScanNormalRadius should be a float

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matlabbe
2018-09-27 14:28:51 -04:00
parent 790b0e5cf7
commit 3b74534567
3 changed files with 10 additions and 4 deletions
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2
corelib/include/rtabmap/core/Memory.h
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@@ -291,7 +291,7 @@ private:
float _laserScanDownsampleStepSize;
float _laserScanVoxelSize;
int _laserScanNormalK;
int _laserScanNormalRadius;
float _laserScanNormalRadius;
bool _reextractLoopClosureFeatures;
bool _localBundleOnLoopClosure;
float _rehearsalMaxDistance;

2
corelib/include/rtabmap/core/Parameters.h
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@@ -220,7 +220,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, LaserScanDownsampleStepSize, int, 1, "If > 1, downsample the laser scans when creating a signature.");
RTABMAP_PARAM(Mem, LaserScanVoxelSize, float, 0.0, uFormat("If > 0 m, voxel filtering is done on laser scans when creating a signature. If the laser scan had normals, they will be removed. To recompute the normals, make sure to use \"%s\" or \"%s\" parameters.", kMemLaserScanNormalK().c_str(), kMemLaserScanNormalRadius().c_str()).c_str());
RTABMAP_PARAM(Mem, LaserScanNormalK, int, 0, "If > 0 and laser scans don't have normals, normals will be computed with K search neighbors when creating a signature.");
RTABMAP_PARAM(Mem, LaserScanNormalRadius, int, 0, "If > 0 m and laser scans don't have normals, normals will be computed with radius search neighbors when creating a signature.");
RTABMAP_PARAM(Mem, LaserScanNormalRadius, float, 0.0, "If > 0 m and laser scans don't have normals, normals will be computed with radius search neighbors when creating a signature.");
RTABMAP_PARAM(Mem, UseOdomFeatures, bool, true, "Use odometry features.");
RTABMAP_PARAM(Mem, CovOffDiagIgnored, bool, true, "Ignore off diagonal values of the covariance matrix.");