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DBDriver: when an empty database url is provided, an empty database "in memory" is used by default. Tango: fixed second database not recorded in Data Recorder mode (now creating a new one on save). Mapping parameters are saved in database instead of the one used to record data (Data Recorder mode).

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matlabbe
2016-11-23 15:13:09 -05:00
parent 639896b309
commit 23bb5d5147
9 changed files with 77 additions and 47 deletions
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corelib/src/Rtabmap.cpp
+1 -1
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@@ -284,7 +284,7 @@ void Rtabmap::init(const ParametersMap & parameters, const std::string & databas
}
else
{
UWARN("Using empty database. Mapping session will not be saved.");
UWARN("Using empty database. Mapping session will not be saved unless it is closed with an output database path.");
}
bool newDatabase = _databasePath.empty() || !UFile::exists(_databasePath);