From af3283096951bab59523c101368b4c57514299a8 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Mon, 14 Sep 2015 10:21:15 -0400 Subject: [PATCH] Updated default "Kp/IncrementalFlann" = true --- corelib/include/rtabmap/core/Parameters.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h index 3896987d..5fde24f2 100644 --- a/corelib/include/rtabmap/core/Parameters.h +++ b/corelib/include/rtabmap/core/Parameters.h @@ -205,7 +205,7 @@ class RTABMAP_EXP Parameters // KeypointMemory (Keypoint-based) RTABMAP_PARAM_COND(Kp, NNStrategy, int, RTABMAP_NONFREE, 1, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4"); RTABMAP_PARAM(Kp, IncrementalDictionary, bool, true, ""); - RTABMAP_PARAM(Kp, IncrementalFlann, bool, false, "When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary doubles in size)."); + RTABMAP_PARAM(Kp, IncrementalFlann, bool, true, "When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary doubles in size)."); RTABMAP_PARAM(Kp, MaxDepth, float, 0.0, "Filter extracted keypoints by depth (0=inf)"); RTABMAP_PARAM(Kp, WordsPerImage, int, 400, ""); RTABMAP_PARAM(Kp, BadSignRatio, float, 0.2, "Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).");