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Removed backward compatibility with RGBD/OptimizeMaxError to be able to use ratio lower than 1.

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matlabbe
2022-02-20 13:44:53 -05:00
parent 4d895785a6
commit e297320dd5
1 changed files with 0 additions and 7 deletions
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7
corelib/src/Rtabmap.cpp
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@@ -591,13 +591,6 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
_optimizeFromGraphEndChanged = true;
}
Parameters::parse(parameters, Parameters::kRGBDOptimizeMaxError(), _optimizationMaxError);
if(_optimizationMaxError > 0.0 && _optimizationMaxError < 1.0)
{
UWARN("RGBD/OptimizeMaxError (value=%f) is smaller than 1.0, setting to default %f "
"instead (for backward compatibility issues when this parameter was previously "
"an absolute error value).", _optimizationMaxError, Parameters::defaultRGBDOptimizeMaxError());
_optimizationMaxError = Parameters::defaultRGBDOptimizeMaxError();
}
Parameters::parse(parameters, Parameters::kRtabmapStartNewMapOnLoopClosure(), _startNewMapOnLoopClosure);
Parameters::parse(parameters, Parameters::kRtabmapStartNewMapOnGoodSignature(), _startNewMapOnGoodSignature);
Parameters::parse(parameters, Parameters::kRGBDGoalReachedRadius(), _goalReachedRadius);