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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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corelib/src/Rtabmap.cpp
+3 -2
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@@ -94,6 +94,7 @@ Rtabmap::Rtabmap() :
_poseScanMatching(Parameters::defaultRGBDPoseScanMatching()),
_localLoopClosureDetectionTime(Parameters::defaultRGBDLocalLoopDetectionTime()),
_localLoopClosureDetectionSpace(Parameters::defaultRGBDLocalLoopDetectionSpace()),
_scanMatchingIdsSavedInLinks(Parameters::defaultRGBDScanMatchingIdsSavedInLinks()),
_localRadius(Parameters::defaultRGBDLocalRadius()),
_localImmunizationRatio(Parameters::defaultRGBDLocalImmunizationRatio()),
_localDetectMaxGraphDepth(Parameters::defaultRGBDLocalLoopDetectionMaxGraphDepth()),
@@ -402,6 +403,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRGBDPoseScanMatching(), _poseScanMatching);
Parameters::parse(parameters, Parameters::kRGBDLocalLoopDetectionTime(), _localLoopClosureDetectionTime);
Parameters::parse(parameters, Parameters::kRGBDLocalLoopDetectionSpace(), _localLoopClosureDetectionSpace);
Parameters::parse(parameters, Parameters::kRGBDScanMatchingIdsSavedInLinks(), _scanMatchingIdsSavedInLinks);
Parameters::parse(parameters, Parameters::kRGBDLocalRadius(), _localRadius);
Parameters::parse(parameters, Parameters::kRGBDLocalImmunizationRatio(), _localImmunizationRatio);
Parameters::parse(parameters, Parameters::kRGBDLocalLoopDetectionMaxGraphDepth(), _localDetectMaxGraphDepth);
@@ -2068,8 +2070,7 @@ bool Rtabmap::process(
transform.prettyPrint().c_str());
cv::Mat scanMatchingIds;
bool _scanMatchingIdsSavedInUserData = true;
if(_scanMatchingIdsSavedInUserData)
if(_scanMatchingIdsSavedInLinks)
{
std::stringstream stream;
stream << "SCANS:";