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Rtabmap::init() added loadDatabaseParameters argument for convenience (default false to be backward compatible)

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matlabbe
2020-06-08 10:35:12 -04:00
parent 6029b6283d
commit ff5695878c
4 changed files with 56 additions and 17 deletions
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28
corelib/include/rtabmap/core/Rtabmap.h
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@@ -86,8 +86,32 @@ public:
const cv::Mat & image,
int id=0, const std::map<std::string, float> & externalStats = std::map<std::string, float>());
void init(const ParametersMap & parameters, const std::string & databasePath = "");
void init(const std::string & configFile = "", const std::string & databasePath = "");
/**
* Initialize Rtabmap with parameters and a database
* @param parameters Parameters overriding default parameters and database parameters
* (@see loadDatabaseParameters)
* @param databasePath The database input/output path. If not set, an
* empty database is used in RAM. If set and the file doesn't exist,
* it will be created empty. If the database exists, nodes and
* vocabulary will be loaded in working memory.
* @param loadDatabaseParameters If an existing database is used (@see databasePath),
* the parameters inside are loaded and set to current
* Rtabmap instance.
*/
void init(const ParametersMap & parameters, const std::string & databasePath = "", bool loadDatabaseParameters = false);
/**
* Initialize Rtabmap with parameters from a configuration file and a database
* @param configFile Configuration file (*.ini) overriding default parameters and database parameters
* (@see loadDatabaseParameters)
* @param databasePath The database input/output path. If not set, an
* empty database is used in RAM. If set and the file doesn't exist,
* it will be created empty. If the database exists, nodes and
* vocabulary will be loaded in working memory.
* @param loadDatabaseParameters If an existing database is used (@see databasePath),
* the parameters inside are loaded and set to current
* Rtabmap instance.
*/
void init(const std::string & configFile = "", const std::string & databasePath = "", bool loadDatabaseParameters = false);
/**
* Close rtabmap. This will delete rtabmap object if set.