From ec50569c66e685c203253c01bf82f904dd6b544c Mon Sep 17 00:00:00 2001 From: matlabbe Date: Tue, 7 Oct 2014 00:15:54 +0000 Subject: [PATCH] fixed bow mapping example with RGBD/Enable =false git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1842 f169173b-cf89-36c8-b27e-44dbe73f0c83 --- examples/BOWMapping/main.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/examples/BOWMapping/main.cpp b/examples/BOWMapping/main.cpp index 339ae8ef..8d3e3d7b 100644 --- a/examples/BOWMapping/main.cpp +++ b/examples/BOWMapping/main.cpp @@ -93,6 +93,9 @@ int main(int argc, char * argv[]) // Or SURF hessian treshold: // parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kSURFHessianThreshold(), "150")); + // Appearance-based only, disable RGB-D mode + parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDEnabled(), "false")); + if(localizationMode) { parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), "false"));