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Added new parameter: RGBD/AggressiveLoopThr

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matlabbe
2024-06-19 10:28:17 -07:00
parent 7c601bb6e8
commit 4c1822683a
6 changed files with 78 additions and 41 deletions
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app/android/jni/RTABMapApp.cpp
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@@ -135,6 +135,7 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapPublishLikelihood(), std::string("false")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapPublishPdf(), std::string("false")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapStartNewMapOnLoopClosure(), uBool2Str(!localizationMode_ && appendMode_)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDAggressiveLoopThr(), 0.0f));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemBinDataKept(), uBool2Str(!trajectoryMode_)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "10"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), uBool2Str(!localizationMode_)));