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Enabled binary visual words for dictionary (for loop closure detection).

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1677 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-09-09 21:54:32 +00:00
parent e687302ce0
commit c8593df7eb
10 changed files with 102 additions and 30 deletions
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guilib/src/DatabaseViewer.cpp
+2
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@@ -186,6 +186,8 @@ bool DatabaseViewer::openDatabase(const QString & path)
rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), "false"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), "false"));
// use BruteForce dictionary because we don't know which type of descriptors are saved in database
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpNNStrategy(), "3"));
memory_ = new rtabmap::Memory();