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Added RGBD/ScanMatchingIdsSavedInLinks parameter

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matlabbe
2015-10-13 16:06:19 -04:00
parent 988e83cf1c
commit 88a3f425c1
5 changed files with 29 additions and 6 deletions
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2
corelib/include/rtabmap/core/Parameters.h
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@@ -201,7 +201,6 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, LaserScanVoxelSize, float, 0.0, "If > 0.0, voxelize laser scans when creating a signature.");
RTABMAP_PARAM(Mem, LocalSpaceLinksKeptInWM, bool, true, "If local space links are kept in WM.");
// KeypointMemory (Keypoint-based)
RTABMAP_PARAM_COND(Kp, NNStrategy, int, RTABMAP_NONFREE, 1, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
RTABMAP_PARAM(Kp, IncrementalDictionary, bool, true, "");
@@ -300,6 +299,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, MaxLocalRetrieved, unsigned int, 2, "Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).");
RTABMAP_PARAM(RGBD, LocalRadius, float, 10, "Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management.");
RTABMAP_PARAM(RGBD, LocalImmunizationRatio, float, 0.25, "Ratio of working memory for which local nodes are immunized from transfer.");
RTABMAP_PARAM(RGBD, ScanMatchingIdsSavedInLinks, bool, true, "Save scan matching IDs in link's user data.");
// Local loop closure detection
RTABMAP_PARAM(RGBD, LocalLoopDetectionTime, bool, false, "Detection over all locations in STM.");

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -188,6 +188,7 @@ private:
bool _poseScanMatching;
bool _localLoopClosureDetectionTime;
bool _localLoopClosureDetectionSpace;
bool _scanMatchingIdsSavedInLinks;
float _localRadius;
float _localImmunizationRatio;
int _localDetectMaxGraphDepth;