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Added parameter selection of actionsByTime or not (default true)

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Now if parameter databaseCleaned is false, "all" signatures are saved, otherwise, only those with no parent loop closure


git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@84 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-08 20:00:14 +00:00
parent 7407657b23
commit edf8bbb735
6 changed files with 50 additions and 13 deletions
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1
corelib/include/rtabmap/core/Parameters.h
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@@ -131,6 +131,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM_STR(Rtabmap, WorkingDirectory, Parameters::getDefaultWorkingDirectory()); // Working directory
RTABMAP_PARAM(Rtabmap, LocalGraphCleaned, bool, false); // Clean the neighborhood of the retrieved id
RTABMAP_PARAM(Rtabmap, MaxRetrieved, unsigned int, 2); // Maximum locations retrieved at the same time from LTM
RTABMAP_PARAM(Rtabmap, ActionsByTime, bool, true); // Select next actions based on the more recent neighbor of the current node, otherwise, weight is also used
// Hypotheses selection
RTABMAP_PARAM(Rtabmap, LoopThr, float, 0.10); // Loop closing threshold

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -133,6 +133,7 @@ private:
float _remThr;
bool _localGraphCleaned;
unsigned int _maxRetrieved;
bool _actionsByTime;
int _lcHypothesisId;
int _reactivateId;