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visual_odometry node: SURF and SIFT parameters are now exposed in ros parameters

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1060 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-01-13 15:17:55 +00:00
parent 5e459c5e32
commit 0eaf0a8871
1 changed files with 6 additions and 2 deletions
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rtabmap/src/VisualOdometryNode.cpp
+6 -2
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@@ -62,7 +62,9 @@ public:
{ {
if((uSplit(iter->first, '/').front().compare("Odom") == 0 || if((uSplit(iter->first, '/').front().compare("Odom") == 0 ||
uSplit(iter->first, '/').front().compare("OdomBin") == 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) 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 || if((uSplit(iter->first, '/').front().compare("Odom") == 0 ||
uSplit(iter->first, '/').front().compare("OdomBin") == 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) uSplit(iter->first, '/').front().compare("OdomICP") != 0)
{ {