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Added Mem/MapLabelsAdded parameter (default true)

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matlabbe
2015-11-27 14:57:29 -05:00
parent 096684ed94
commit 69a04121a3
6 changed files with 48 additions and 19 deletions
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corelib/src/Memory.cpp
+3 -1
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@@ -78,6 +78,7 @@ Memory::Memory(const ParametersMap & parameters) :
_idUpdatedToNewOneRehearsal(Parameters::defaultMemRehearsalIdUpdatedToNewOne()),
_generateIds(Parameters::defaultMemGenerateIds()),
_badSignaturesIgnored(Parameters::defaultMemBadSignaturesIgnored()),
_mapLabelsAdded(Parameters::defaultMemMapLabelsAdded()),
_imageDecimation(Parameters::defaultMemImageDecimation()),
_laserScanVoxelSize(Parameters::defaultMemLaserScanVoxelSize()),
_localSpaceLinksKeptInWM(Parameters::defaultMemLocalSpaceLinksKeptInWM()),
@@ -408,6 +409,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kMemRehearsalIdUpdatedToNewOne(), _idUpdatedToNewOneRehearsal);
Parameters::parse(parameters, Parameters::kMemGenerateIds(), _generateIds);
Parameters::parse(parameters, Parameters::kMemBadSignaturesIgnored(), _badSignaturesIgnored);
Parameters::parse(parameters, Parameters::kMemMapLabelsAdded(), _mapLabelsAdded);
Parameters::parse(parameters, Parameters::kMemRehearsalSimilarity(), _similarityThreshold);
Parameters::parse(parameters, Parameters::kMemRecentWmRatio(), _recentWmRatio);
Parameters::parse(parameters, Parameters::kMemTransferSortingByWeightId(), _transferSortingByWeightId);
@@ -745,7 +747,7 @@ void Memory::addSignatureToStm(Signature * signature, const cv::Mat & covariance
}
}
}
else
else if(_mapLabelsAdded)
{
//Tag the first node of the map
std::string tag = uFormat("map%d", signature->mapId());