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Parameters: Updated description of Rtabmap/TimeThr and Rtabmap/MemoryThr (https://github.com/introlab/rtabmap_ros/issues/276)

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matlabbe
2018-09-28 15:37:24 -04:00
parent 95e87fed14
commit dbb9cfa77a
1 changed files with 2 additions and 2 deletions
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4
corelib/include/rtabmap/core/Parameters.h
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@@ -175,8 +175,8 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Rtabmap, PublishRAMUsage, bool, false, "Publishing RAM usage in statistics (may add a small overhead to get info from the system).");
RTABMAP_PARAM(Rtabmap, ComputeRMSE, bool, true, "Compute root mean square error (RMSE) and publish it in statistics, if ground truth is provided.");
RTABMAP_PARAM(Rtabmap, SaveWMState, bool, false, "Save working memory state after each update in statistics.");
RTABMAP_PARAM(Rtabmap, TimeThr, float, 0, "Maximum time allowed for the detector (ms) (0 means infinity).");
RTABMAP_PARAM(Rtabmap, MemoryThr, int, 0, "Maximum signatures in the Working Memory (0 means infinity).");
RTABMAP_PARAM(Rtabmap, TimeThr, float, 0, "Maximum time allowed for map update (ms) (0 means infinity). When map update time exceeds this fixed time threshold, some nodes in Working Memory (WM) are transferred to Long-Term Memory to limit the size of the WM and decrease the update time.");
RTABMAP_PARAM(Rtabmap, MemoryThr, int, 0, uFormat("Maximum nodes in the Working Memory (0 means infinity). Similar to \"%s\", when the number of nodes in Working Memory (WM) exceeds this treshold, some nodes are transferred to Long-Term Memory to keep WM size fixed.", kRtabmapTimeThr().c_str()));
RTABMAP_PARAM(Rtabmap, DetectionRate, float, 1, "Detection rate (Hz). RTAB-Map will filter input images to satisfy this rate.");
RTABMAP_PARAM(Rtabmap, ImageBufferSize, unsigned int, 1, "Data buffer size (0 min inf).");
RTABMAP_PARAM(Rtabmap, CreateIntermediateNodes, bool, false, uFormat("Create intermediate nodes between loop closure detection. Only used when %s>0.", kRtabmapDetectionRate().c_str()));