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Added badSignaturesIgnored parameter, set to false will keep bad images in memory and in the map's graph (useful on RGBD-SLAM with TORO optimizations to propagate more equally errors to nodes with blank images)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1063 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-01-15 20:41:58 +00:00
parent 11eed189c9
commit b8c6014ed2
5 changed files with 54 additions and 16 deletions
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1
corelib/include/rtabmap/core/Memory.h
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@@ -196,6 +196,7 @@ private:
float _recentWmRatio;
bool _idUpdatedToNewOneRehearsal;
bool _generateIds;
bool _badSignaturesIgnored;
int _idCount;
int _idMapCount;

3
corelib/include/rtabmap/core/Parameters.h
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@@ -148,7 +148,8 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, IncrementalMemory, bool, true, "SLAM mode, othwersize it is Localization mode.");
RTABMAP_PARAM(Mem, RecentWmRatio, float, 0.2, "Ratio of locations after the last loop closure in WM that cannot be transferred.");
RTABMAP_PARAM(Mem, RehearsalIdUpdatedToNewOne, bool, false, "On merge, update to new id. When false, no copy.");
RTABMAP_PARAM(Mem, GenerateIds, bool, true, "True=Generate location Ids, False=use input image ids.")
RTABMAP_PARAM(Mem, GenerateIds, bool, true, "True=Generate location Ids, False=use input image ids.");
RTABMAP_PARAM(Mem, BadSignaturesIgnored, bool, true, "Bad signatures are ignored.")
// KeypointMemory (Keypoint-based)
RTABMAP_PARAM(Kp, PublishKeypoints, bool, true, "Publishing keypoints.");