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Refactoring of some parameters (LocalLoopDetection* to Proximity*) and variables in code

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matlabbe
2015-11-25 12:15:41 -05:00
parent 56383d4cfb
commit da1129cf79
14 changed files with 290 additions and 308 deletions
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corelib/src/Memory.cpp
-23
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@@ -82,7 +82,6 @@ Memory::Memory(const ParametersMap & parameters) :
_badSignaturesIgnored(Parameters::defaultMemBadSignaturesIgnored()),
_imageDecimation(Parameters::defaultMemImageDecimation()),
_laserScanDownsampleStepSize(Parameters::defaultMemLaserScanDownsampleStepSize()),
_localSpaceLinksKeptInWM(Parameters::defaultMemLocalSpaceLinksKeptInWM()),
_reextractLoopClosureFeatures(Parameters::defaultRGBDLoopClosureReextractFeatures()),
_rehearsalMaxDistance(Parameters::defaultRGBDLinearUpdate()),
_rehearsalMaxAngle(Parameters::defaultRGBDAngularUpdate()),
@@ -399,7 +398,6 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kMemSTMSize(), _maxStMemSize);
Parameters::parse(parameters, Parameters::kMemImageDecimation(), _imageDecimation);
Parameters::parse(parameters, Parameters::kMemLaserScanDownsampleStepSize(), _laserScanDownsampleStepSize);
Parameters::parse(parameters, Parameters::kMemLocalSpaceLinksKeptInWM(), _localSpaceLinksKeptInWM);
Parameters::parse(parameters, Parameters::kRGBDLoopClosureReextractFeatures(), _reextractLoopClosureFeatures);
Parameters::parse(parameters, Parameters::kRGBDLinearUpdate(), _rehearsalMaxDistance);
Parameters::parse(parameters, Parameters::kRGBDAngularUpdate(), _rehearsalMaxAngle);
@@ -748,27 +746,6 @@ void Memory::moveSignatureToWMFromSTM(int id, int * reducedTo)
UASSERT(_stMem.find(id) != _stMem.end());
Signature * s = this->_getSignature(id);
UASSERT(s!=0);
if(!_localSpaceLinksKeptInWM)
{
// remove local space links outside STM
std::map<int, Link> links = s->getLinks(); // get a copy because we will remove some links in "s"
for(std::map<int, Link>::iterator iter=links.begin(); iter!=links.end(); ++iter)
{
if(iter->second.type() == Link::kLocalSpaceClosure)
{
Signature * sTo = this->_getSignature(iter->first);
if(sTo)
{
sTo->removeLink(s->id());
}
else
{
UERROR("Link %d of %d not in WM/STM?!?", iter->first, s->id());
}
s->removeLink(iter->first);
}
}
}
if(_reduceGraph)
{