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Removed parameters Vis/UseDepthAsMask and Mem/UseDepthAsMask (just always do it when a depth is detected)

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matlabbe
2016-03-01 14:40:40 -05:00
parent 1f999c4d28
commit a89b8cb4fe
7 changed files with 144 additions and 202 deletions
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1
corelib/include/rtabmap/core/Memory.h
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@@ -245,7 +245,6 @@ private:
float _rehearsalMaxDistance;
float _rehearsalMaxAngle;
bool _rehearsalWeightIgnoredWhileMoving;
bool _useDepthAsMask;
bool _useOdometryFeatures;
int _idCount;

2
corelib/include/rtabmap/core/Parameters.h
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@@ -208,7 +208,6 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
RTABMAP_PARAM(Mem, ImageDecimation, int, 1, "Image decimation (>=1) when creating a signature.");
RTABMAP_PARAM(Mem, LaserScanDownsampleStepSize, int, 1, "If > 1, downsample the laser scans when creating a signature.");
RTABMAP_PARAM(Mem, UseDepthAsMask, bool, false, "Use depth image as mask for features detection.");
RTABMAP_PARAM(Mem, UseOdomFeatures, bool, false, "Use odometry features.");
// KeypointMemory (Keypoint-based)
@@ -410,7 +409,6 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
RTABMAP_PARAM(Vis, UseDepthAsMask, bool, true, "Use depth image as mask for features detection.");
// ICP registration parameters
RTABMAP_PARAM(Icp, MaxTranslation, float, 0.2, "Maximum ICP translation correction accepted (m).");

1
corelib/include/rtabmap/core/RegistrationVis.h
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@@ -81,7 +81,6 @@ private:
int _flowMaxLevel;
float _nndr;
int _guessWinSize;
bool _useDepthAsMask;
ParametersMap _featureParameters;
};