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Preferences: updated RGBD/ProximityPathMaxNeighbors description and default value (now 0=disabled)

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matlabbe
2017-04-26 14:06:42 -04:00
parent 461d167547
commit 6a2fe47b22
2 changed files with 5 additions and 5 deletions
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corelib/include/rtabmap/core/Parameters.h
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@@ -330,7 +330,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, ProximityMaxGraphDepth, int, 50, "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
RTABMAP_PARAM(RGBD, ProximityMaxPaths, int, 3, "Maximum paths compared (from the most recent) for proximity detection by space. 0 means no limit.");
RTABMAP_PARAM(RGBD, ProximityPathFilteringRadius, float, 0.5, "Path filtering radius to reduce the number of nodes to compare in a path. A path should also be inside that radius to be considered for proximity detection.");
RTABMAP_PARAM(RGBD, ProximityPathMaxNeighbors, int, 10, "Maximum neighbor nodes compared on each path.");
RTABMAP_PARAM(RGBD, ProximityPathMaxNeighbors, int, 0, "Maximum neighbor nodes compared on each path. Set to 0 to disable merging the laser scans.");
RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed, bool, true, "When comparing to a local path, merge the scan using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
RTABMAP_PARAM(RGBD, ProximityAngle, float, 45, "Maximum angle (degrees) for visual proximity detection.");