i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 10:00:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
matlabbe
2022-02-20 13:44:53 -05:00
parent 4d895785a6
commit e297320dd5
1 changed files with 0 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
corelib/src/Rtabmap.cpp
View File

@@ -591,13 +591,6 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
_optimizeFromGraphEndChanged = true; _optimizeFromGraphEndChanged = true;
} }
Parameters::parse(parameters, Parameters::kRGBDOptimizeMaxError(), _optimizationMaxError); 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::kRtabmapStartNewMapOnLoopClosure(), _startNewMapOnLoopClosure);
Parameters::parse(parameters, Parameters::kRtabmapStartNewMapOnGoodSignature(), _startNewMapOnGoodSignature); Parameters::parse(parameters, Parameters::kRtabmapStartNewMapOnGoodSignature(), _startNewMapOnGoodSignature);
Parameters::parse(parameters, Parameters::kRGBDGoalReachedRadius(), _goalReachedRadius); Parameters::parse(parameters, Parameters::kRGBDGoalReachedRadius(), _goalReachedRadius);