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Added RGBD/MaxOdomCacheSize option to iOS App.

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matlabbe
2021-12-12 20:40:28 -05:00
parent 0e62050824
commit 6eb81cbb72
2 changed files with 45 additions and 0 deletions
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app/ios/RTABMapApp/ViewController.swift
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@@ -1340,6 +1340,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
rtabmap!.setMappingParameter(key: "Vis/FeatureType", value: defaults.string(forKey: "FeatureType")!);
rtabmap!.setMappingParameter(key: "Mem/NotLinkedNodesKept", value: defaults.bool(forKey: "SaveAllFramesInDatabase") ? "true" : "false");
rtabmap!.setMappingParameter(key: "RGBD/OptimizeFromGraphEnd", value: defaults.bool(forKey: "OptimizationfromGraphEnd") ? "true" : "false");
rtabmap!.setMappingParameter(key: "RGBD/MaxOdomCacheSize", value: defaults.string(forKey: "MaximumOdometryCacheSize")!);
rtabmap!.setMappingParameter(key: "Optimizer/Strategy", value: defaults.string(forKey: "GraphOptimizer")!);
rtabmap!.setMappingParameter(key: "RGBD/ProximityBySpace", value: defaults.string(forKey: "ProximityDetection")!);