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reprocess: disable Mem/UseOdomFeatures by default when there are more than 1 input database

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matlabbe
2022-10-24 10:34:37 -07:00
parent 769ace86ce
commit a8cdf1f940
1 changed files with 13 additions and 0 deletions
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13
tools/Reprocess/main.cpp
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@@ -587,6 +587,19 @@ int main(int argc, char * argv[])
}
}
if(useOdomFeatures && databases.size() > 1 &&
configParameters.find(Parameters::kMemUseOdomFeatures())==configParameters.end() &&
customParameters.find(Parameters::kMemUseOdomFeatures())==customParameters.end())
{
printf("[Warning] Parameter %s is set to false for convenience as "
"there are more than one input database (which could "
"contain different features). Set %s "
"explicitly to suppress this warning.\n",
Parameters::kMemUseOdomFeatures().c_str(),
Parameters::kMemUseOdomFeatures().c_str());
useOdomFeatures = false;
}
if(republishLoopClosures)
{
if(databases.size() > 1)