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Recovery: set back database in mapping mode after being saved in localization mode

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matlabbe
2020-08-03 13:46:42 -04:00
parent 0a9d237ac2
commit 39f68c44c6
1 changed files with 12 additions and 0 deletions
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12
corelib/src/Recovery.cpp
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@@ -133,6 +133,18 @@ bool databaseRecovery(
*errorMsg = uFormat("Failed renaming database file from \"%s\" to \"%s\". Is it opened by another app?", UFile::getName(databasePath).c_str(), UFile::getName(backupPath).c_str()); *errorMsg = uFormat("Failed renaming database file from \"%s\" to \"%s\". Is it opened by another app?", UFile::getName(databasePath).c_str(), UFile::getName(backupPath).c_str());
return false; return false;
} }
bool incrementalMemory = true;
Parameters::parse(parameters, Parameters::kMemIncrementalMemory(), incrementalMemory);
if(!incrementalMemory)
{
if(progressState)
{
progressState->callback("Database is in localization mode, setting it to mapping mode to recover...");
}
uInsert(parameters, ParametersPair(Parameters::kMemIncrementalMemory(), "true"));
}
Rtabmap rtabmap; Rtabmap rtabmap;
rtabmap.init(parameters, databasePath); rtabmap.init(parameters, databasePath);