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Added parameter Mem/CovOffDiagIgnored (default true)

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matlabbe
2018-08-05 12:51:50 -04:00
parent f938e8ce29
commit d5128ddc18
6 changed files with 144 additions and 105 deletions
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corelib/include/rtabmap/core/Memory.h
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@@ -302,6 +302,7 @@ private:
int _visMaxFeatures;
int _visCorType;
bool _imagesAlreadyRectified;
bool _covOffDiagonalIgnored;
int _idCount;
int _idMapCount;

1
corelib/include/rtabmap/core/Parameters.h
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@@ -221,6 +221,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, LaserScanNormalK, int, 0, "If > 0 and laser scans don't have normals, normals will be computed with K search neighbors when creating a signature.");
RTABMAP_PARAM(Mem, LaserScanNormalRadius, int, 0, "If > 0 m and laser scans don't have normals, normals will be computed with radius search neighbors when creating a signature.");
RTABMAP_PARAM(Mem, UseOdomFeatures, bool, true, "Use odometry features.");
RTABMAP_PARAM(Mem, CovOffDiagIgnored, bool, true, "Ignore off diagonal values of the covariance matrix.");
// KeypointMemory (Keypoint-based)
RTABMAP_PARAM(Kp, NNStrategy, int, 1, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");