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Split RawDataKept parameter into Raw and Binary parameters to save RAM when keeping raw data in the core is not required

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Mathieu Labbe
2015-01-12 18:23:25 -05:00
parent cdb1e29d45
commit 6bd2a0926b
9 changed files with 49 additions and 21 deletions
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corelib/src/Rtabmap.cpp
+1 -1
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@@ -1256,7 +1256,7 @@ bool Rtabmap::process(const SensorData & data)
// override some parameters
uInsert(customParameters, ParametersPair(Parameters::kMemIncrementalMemory(), "true")); // make sure it is incremental
uInsert(customParameters, ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
uInsert(customParameters, ParametersPair(Parameters::kMemImageKept(), "false"));
uInsert(customParameters, ParametersPair(Parameters::kMemBinDataKept(), "false"));
uInsert(customParameters, ParametersPair(Parameters::kMemSTMSize(), "0"));
uInsert(customParameters, ParametersPair(Parameters::kKpIncrementalDictionary(), "true")); // make sure it is incremental
uInsert(customParameters, ParametersPair(Parameters::kKpNewWordsComparedTogether(), "false"));