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Added warning setting RGBD/ProximityPathMaxNeighbors to 10 when subscribe_scan is enabled

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matlabbe
2017-04-26 14:35:51 -04:00
parent 02f35eaf8c
commit a5266ae257
2 changed files with 14 additions and 0 deletions
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launch/demo/demo_robot_mapping.launch
+1
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@@ -40,6 +40,7 @@
<param name="RGBD/NeighborLinkRefining" type="string" value="true"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/ProximityBySpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/ProximityByTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="10"/> <!-- Do also proximity detection by space by merging close scans together. -->
<param name="Reg/Strategy" type="string" value="1"/> <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
src/CoreWrapper.cpp
+13
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@@ -332,6 +332,19 @@ void CoreWrapper::onInit()
Parameters::kGridFromDepth().c_str());
parameters_.insert(ParametersPair(Parameters::kGridFromDepth(), "false"));
}
if(subscribeScan2d &&
parameters_.find(Parameters::kRGBDProximityPathMaxNeighbors()) == parameters_.end() &&
(parameters_.find(Parameters::kRGBDProximityBySpace()) == parameters_.end() ||
uStr2Bool(parameters_.at(Parameters::kRGBDProximityBySpace()))))
{
NODELET_WARN("Setting \"%s\" parameter to 10 (default 0) as \"subscribe_scan\" is "
"true. Proximity detection by space will be also done by merging close "
"scans. To disable, set to 0. To suppress this warning, "
"add <param name=\"%s\" type=\"string\" value=\"10\"/>",
Parameters::kRGBDProximityPathMaxNeighbors().c_str(),
Parameters::kRGBDProximityPathMaxNeighbors().c_str());
parameters_.insert(ParametersPair(Parameters::kRGBDProximityPathMaxNeighbors(), "10"));
}
// modify default parameters with those in the database
if(!deleteDbOnStart)