i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added Rtabmap/StartNewMapOnGoodSignature parameter

Browse Source
This commit is contained in:
matlabbe
2018-05-24 14:53:47 -04:00
parent 4df9ac995a
commit d34a529116
7 changed files with 108 additions and 28 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
corelib/include/rtabmap/core/Parameters.h
View File

@@ -186,6 +186,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Rtabmap, StatisticLogged, bool, false, "Logging enabled.");
RTABMAP_PARAM(Rtabmap, StatisticLoggedHeaders, bool, true, "Add column header description to log files.");
RTABMAP_PARAM(Rtabmap, StartNewMapOnLoopClosure, bool, false, "Start a new map only if there is a global loop closure with a previous map.");
RTABMAP_PARAM(Rtabmap, StartNewMapOnGoodSignature, bool, false, uFormat("Start a new map only if the first signature is not bad (i.e., has enough features, see %s).", kKpBadSignRatio().c_str()));
RTABMAP_PARAM(Rtabmap, ImagesAlreadyRectified, bool, true, "Images are already rectified. By default RTAB-Map assumes that received images are rectified. If they are not, they can be rectified by RTAB-Map if this parameter is false.");
// Hypotheses selection

1
corelib/include/rtabmap/core/Rtabmap.h
View File

@@ -249,6 +249,7 @@ private:
bool _optimizeFromGraphEnd;
float _optimizationMaxLinearError;
bool _startNewMapOnLoopClosure;
bool _startNewMapOnGoodSignature;
float _goalReachedRadius; // meters
bool _goalsSavedInUserData;
int _pathStuckIterations;