Reintroduce option to remove bad landmarks before saving

ethz-asl · Dec 6, 2019 · bda4a5d · bda4a5d
1 parent 7f52ff4
commit bda4a5d
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/applications/maplab_node/launch/maplab_node_simple.launch b/applications/maplab_node/launch/maplab_node_simple.launch
@@ -15,6 +15,7 @@
   <arg name="maplab_verbosity" default="0"/>
 
   <arg name="maplab_save_map_every_n_sec" default="0"/>
+  <arg name="maplab_remove_bad_landmarks" default="true"/>
   <arg name="maplab_keyframe_when_saving" default="false"/>
 
   <arg name="maplab_apply_clahe" default="false"/>
@@ -70,6 +71,7 @@
   		<arg name="map_run_keyframing_when_saving" default="$(arg maplab_keyframe_when_saving)"/>
   		<arg name="map_save_every_n_sec" default="$(arg maplab_save_map_every_n_sec)"/>
   		<arg name="map_split_map_into_submaps_when_saving_periodically" default="true"/>
+        <arg name="map_remove_bad_landmarks" default="$(arg maplab_remove_bad_landmarks)"/>
 
   		<!-- ATTACHING RESOURCES TO MAP -->
   		<arg name="map_builder_save_image_as_resources" default="$(arg maplab_attach_images)"/>