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Added path immunization between the nearest local location and the current pose. New parameter: "RGBD/LocalImmunizationRatio"

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Mathieu Labbe
2015-05-04 16:00:21 -04:00
parent 26305588da
commit cf5f998e06
9 changed files with 257 additions and 158 deletions
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corelib/include/rtabmap/core/Statistics.h
+3
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@@ -77,6 +77,9 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Memory, Working_memory_size,);
RTABMAP_STATS(Memory, Short_time_memory_size,);
RTABMAP_STATS(Memory, Signatures_removed,);
RTABMAP_STATS(Memory, Immunized_globally,);
RTABMAP_STATS(Memory, Immunized_locally,);
RTABMAP_STATS(Memory, Immunized_locally_max,);
RTABMAP_STATS(Memory, Signatures_retrieved,);
RTABMAP_STATS(Memory, Images_buffered,);
RTABMAP_STATS(Memory, Rehearsal_sim,);