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Refactored OdometryBOW class

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1846 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-10-08 00:32:43 +00:00
parent ae57ea6ae5
commit a3f7415821
4 changed files with 74 additions and 107 deletions
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corelib/src/Rtabmap.cpp
+4 -4
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@@ -1291,10 +1291,10 @@ bool Rtabmap::process(const SensorData & data)
uInsert(customParameters, ParametersPair(Parameters::kKpDetectorStrategy(), uNumber2Str(_reextractFeatureType))); // FAST/BRIEF
uInsert(customParameters, ParametersPair(Parameters::kKpWordsPerImage(), uNumber2Str(_reextractMaxWords)));
for(ParametersMap::iterator iter = customParameters.begin(); iter!=customParameters.end(); ++iter)
{
UINFO("%s=%s", iter->first.c_str(), iter->second.c_str());
}
//for(ParametersMap::iterator iter = customParameters.begin(); iter!=customParameters.end(); ++iter)
//{
// UDEBUG("%s=%s", iter->first.c_str(), iter->second.c_str());
//}
Memory memory(customParameters);