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Added backward compatibility for "LccBow/MaxDepth" parameter

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matlabbe
2015-06-29 23:03:12 -04:00
parent 45f3e02f0b
commit 622d55c32a
1 changed files with 14 additions and 1 deletions
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src/CoreWrapper.cpp
+14 -1
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@@ -259,12 +259,25 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
oldParameterNames.push_back("RGBD/ToroIterations");
oldParameterNames.push_back("Mem/RehearsedNodesKept");
oldParameterNames.push_back("Odom/PnPEstimation");
oldParameterNames.push_back("LccBow/MaxDepth");
oldParameterNames.push_back("GFTT/MaxCorners");
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)
if(iter->compare("GFTT/MaxCorners") == 0)
{
ROS_WARN("Parameter name changed: GFTT/MaxCorners -> %s. Please update your launch file accordingly.",
Parameters::kKpWordsPerImage().c_str());
}
else if(iter->compare("LccBow/MaxDepth") == 0)
{
ROS_WARN("Parameter name changed: LccBow/MaxDepth -> %s. Please update your launch file accordingly.",
Parameters::kLccReextractMaxDepth().c_str());
parameters_.at(Parameters::kLccReextractMaxDepth())= vStr;
}
else if(iter->compare("LccReextract/LoopClosureFeatures") == 0)
{
ROS_WARN("Parameter name changed: LccReextract/LoopClosureFeatures -> %s. Please update your launch file accordingly.",
Parameters::kLccReextractActivated().c_str());