From 0eaf0a88716fa7bc84471daf59ca00681141e8c1 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Mon, 13 Jan 2014 15:17:55 +0000 Subject: [PATCH] visual_odometry node: SURF and SIFT parameters are now exposed in ros parameters git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1060 f169173b-cf89-36c8-b27e-44dbe73f0c83 --- rtabmap/src/VisualOdometryNode.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/rtabmap/src/VisualOdometryNode.cpp b/rtabmap/src/VisualOdometryNode.cpp index 87341d00..a2d1d2ec 100644 --- a/rtabmap/src/VisualOdometryNode.cpp +++ b/rtabmap/src/VisualOdometryNode.cpp @@ -62,7 +62,9 @@ public: { if((uSplit(iter->first, '/').front().compare("Odom") == 0 || uSplit(iter->first, '/').front().compare("OdomBin") == 0 || - uSplit(iter->first, '/').front().compare("Kp") == 0) + uSplit(iter->first, '/').front().compare("Kp") == 0 || + uSplit(iter->first, '/').front().compare("SURF") == 0 || + uSplit(iter->first, '/').front().compare("SIFT") == 0) && uSplit(iter->first, '/').front().compare("OdomICP") != 0) { @@ -278,7 +280,9 @@ int main(int argc, char *argv[]) { if((uSplit(iter->first, '/').front().compare("Odom") == 0 || uSplit(iter->first, '/').front().compare("OdomBin") == 0 || - uSplit(iter->first, '/').front().compare("Kp") == 0) + uSplit(iter->first, '/').front().compare("Kp") == 0 || + uSplit(iter->first, '/').front().compare("SURF") == 0 || + uSplit(iter->first, '/').front().compare("SIFT") == 0) && uSplit(iter->first, '/').front().compare("OdomICP") != 0) {