i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

fixed a graph optimization startup crash when a database is already created

Browse Source
This commit is contained in:
Mathieu Labbe
2015-03-16 15:38:57 -04:00
parent 07c6090dce
commit 49883a67e7
1 changed files with 23 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files

46
corelib/src/Rtabmap.cpp
View File

@@ -398,6 +398,28 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
// By default, we create our strategies if they are not already created.
// If they already exists, we check the parameters if a change is requested
// Graph optimizer
graph::Optimizer::Type optimizerType = graph::Optimizer::kTypeUndef;
if((iter=parameters.find(Parameters::kRGBDOptimizeStrategy())) != parameters.end())
{
optimizerType = (graph::Optimizer::Type)std::atoi((*iter).second.c_str());
}
if(optimizerType!=graph::Optimizer::kTypeUndef)
{
UDEBUG("new detector strategy %d", int(optimizerType));
if(_graphOptimizer)
{
delete _graphOptimizer;
_graphOptimizer = 0;
}
_graphOptimizer = graph::Optimizer::create(optimizerType, parameters);
}
else if(_graphOptimizer)
{
_graphOptimizer->parseParameters(parameters);
}
if(!_memory)
{
_memory = new Memory(parameters);
@@ -444,29 +466,6 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
_bayesFilter->parseParameters(parameters);
}
// Graph optimizer
graph::Optimizer::Type optimizerType = graph::Optimizer::kTypeUndef;
if((iter=parameters.find(Parameters::kRGBDOptimizeStrategy())) != parameters.end())
{
optimizerType = (graph::Optimizer::Type)std::atoi((*iter).second.c_str());
}
if(optimizerType!=graph::Optimizer::kTypeUndef)
{
UDEBUG("new detector strategy %d", int(optimizerType));
if(_graphOptimizer)
{
delete _graphOptimizer;
_graphOptimizer = 0;
}
_graphOptimizer = graph::Optimizer::create(optimizerType, parameters);
}
else if(_graphOptimizer)
{
_graphOptimizer->parseParameters(parameters);
}
for(ParametersMap::const_iterator iter = parameters.begin(); iter!=parameters.end(); ++iter)
{
uInsert(_lastParameters, ParametersPair(iter->first, iter->second));
@@ -2189,6 +2188,7 @@ void Rtabmap::optimizeCurrentMap(
*constraints = edgeConstraints;
}
UASSERT(_graphOptimizer!=0);
if(_graphOptimizer->iterations() == 0)
{
// Optimization desactivated! Return not optimized poses.