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ros-pkg: updated az3 stereo launch file with optimization

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1856 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-14 21:53:46 +00:00
parent 0469106792
commit 2599e3ecfb
4 changed files with 35 additions and 14 deletions
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src/CoreWrapper.cpp
+24
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@@ -148,6 +148,30 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
}
}
// Backward compatibility
std::list<std::string> oldParameterNames;
oldParameterNames.push_back("LccReextract/LoopClosureFeatures");
oldParameterNames.push_back("Rtabmap/DetectorStrategy");
for(std::list<std::string>::iterator iter=oldParameterNames.begin(); iter!=oldParameterNames.end(); ++iter)
{
std::string vStr;
if(pnh.getParam(*iter, vStr))
{
if(iter->compare("LccReextract/LoopClosureFeatures") == 0)
{
ROS_WARN("Parameter name changed: LccReextract/LoopClosureFeatures -> %s. Please update your launch file accordingly.",
Parameters::kLccReextractActivated().c_str());
parameters.at(Parameters::kLccReextractActivated())= vStr;
}
else if(iter->compare("Rtabmap/DetectorStrategy") == 0)
{
ROS_WARN("Parameter name changed: Rtabmap/DetectorStrategy -> %s. Please update your launch file accordingly.",
Parameters::kKpDetectorStrategy().c_str());
parameters.at(Parameters::kKpDetectorStrategy())= vStr;
}
}
}
// set public parameters
nh.setParam("is_rtabmap_paused", paused_);
for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)