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New parameter "RGBD/MaxOdomCacheSize" used in localization mode to reject similar locations (default disabled)

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matlabbe
2019-04-05 19:37:40 -04:00
parent ae12caff04
commit 9b63297a6b
7 changed files with 297 additions and 94 deletions
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2
app/android/jni/RTABMapApp.cpp
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@@ -130,7 +130,7 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpEpsilon(), std::string("0.001")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxRotation(), std::string("0.17"))); // 10 degrees
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxTranslation(), std::string("0.05")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpCorrespondenceRatio(), std::string("0.5")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpCorrespondenceRatio(), std::string("0.49")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxCorrespondenceDistance(), std::string("0.05")));
parameters.insert(*rtabmap::Parameters::getDefaultParameters().find(rtabmap::Parameters::kKpMaxFeatures()));