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OdomF2M: added Odom/KeyFrameThr=0.5 and OdomF2M/MaxNewFeatures=0 parameters. Set Odom/GuessMotion to false by default.

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matlabbe
2016-03-01 20:47:46 -05:00
parent b6fb947310
commit 264146d8b3
10 changed files with 180 additions and 100 deletions
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corelib/src/Parameters.cpp
+2 -1
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@@ -144,11 +144,12 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
removedParameters_.insert(std::make_pair("OdomLocalMap/HistorySize", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
removedParameters_.insert(std::make_pair("OdomLocalMap/FixedMapPath", std::make_pair(true, Parameters::kOdomF2MFixedMapPath())));
removedParameters_.insert(std::make_pair("OdomF2F/GuessMotion", std::make_pair(true, Parameters::kOdomGuessMotion())));
removedParameters_.insert(std::make_pair("OdomF2F/KeyFrameThr", std::make_pair(false, Parameters::kOdomKeyFrameThr())));
// 0.11.0
removedParameters_.insert(std::make_pair("OdomBow/LocalHistorySize", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
removedParameters_.insert(std::make_pair("OdomBow/FixedLocalMapPath", std::make_pair(true, Parameters::kOdomF2MFixedMapPath())));
removedParameters_.insert(std::make_pair("OdomFlow/KeyFrameThr", std::make_pair(true, Parameters::kOdomF2FKeyFrameThr())));
removedParameters_.insert(std::make_pair("OdomFlow/KeyFrameThr", std::make_pair(false, Parameters::kOdomKeyFrameThr())));
removedParameters_.insert(std::make_pair("OdomFlow/GuessMotion", std::make_pair(true, Parameters::kOdomGuessMotion())));
removedParameters_.insert(std::make_pair("Kp/WordsPerImage", std::make_pair(true, Parameters::kKpMaxFeatures())));