i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

reprocess: added double dash support for arguments for convenience. Rtabmap: fixed typo in localization verification by odom graph optimization.

Browse Source
This commit is contained in:
matlabbe
2019-04-29 17:11:29 -04:00
parent 125d532e95
commit 630b565cd4
2 changed files with 12 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/src/Rtabmap.cpp
View File

@@ -2567,7 +2567,7 @@ bool Rtabmap::process(
std::map<int, Transform>::iterator iter = _optimizedPoses.find(_odomCacheConstraints.find(_odomCachePoses.begin()->first)->second.to()); std::map<int, Transform>::iterator iter = _optimizedPoses.find(_odomCacheConstraints.find(_odomCachePoses.begin()->first)->second.to());
Transform optPoseRefA; Transform optPoseRefA;
Transform optPoseRefB; Transform optPoseRefB;
if(iter != _optimizedPoses.end()); if(iter != _optimizedPoses.end())
{ {
optPoseRefA = iter->second * _odomCacheConstraints.find(_odomCachePoses.begin()->first)->second.transform().inverse(); optPoseRefA = iter->second * _odomCacheConstraints.find(_odomCachePoses.begin()->first)->second.transform().inverse();
} }

18
tools/Reprocess/main.cpp
View File

@@ -155,12 +155,12 @@ int main(int argc, char * argv[])
ParametersMap configParameters; ParametersMap configParameters;
for(int i=1; i<argc-2; ++i) for(int i=1; i<argc-2; ++i)
{ {
if(strcmp(argv[i], "-r") == 0) if(strcmp(argv[i], "-r") == 0 || strcmp(argv[i], "--r") == 0)
{ {
useDatabaseRate = true; useDatabaseRate = true;
printf("Using database stamps as input rate.\n"); printf("Using database stamps as input rate.\n");
} }
else if (strcmp(argv[i], "-c") == 0) else if (strcmp(argv[i], "-c") == 0 || strcmp(argv[i], "--c") == 0)
{ {
++i; ++i;
if (i < argc - 2 && UFile::exists(argv[i]) && UFile::getExtension(argv[i]).compare("ini") == 0) if (i < argc - 2 && UFile::exists(argv[i]) && UFile::getExtension(argv[i]).compare("ini") == 0)
@@ -168,22 +168,26 @@ int main(int argc, char * argv[])
Parameters::readINI(argv[i], configParameters); Parameters::readINI(argv[i], configParameters);
printf("Using %d parameters from config file \"%s\"\n", (int)configParameters.size(), argv[i]); printf("Using %d parameters from config file \"%s\"\n", (int)configParameters.size(), argv[i]);
} }
else if(i < argc - 2)
{
printf("Config file \"%s\" is not valid or doesn't exist!\n", argv[i]);
}
else else
{ {
showUsage(); printf("Config file is not set!\n");
} }
} }
else if(strcmp(argv[i], "-g2") == 0) else if(strcmp(argv[i], "-g2") == 0 || strcmp(argv[i], "--g2") == 0)
{ {
assemble2dMap = true; assemble2dMap = true;
printf("2D occupancy grid will be assembled (-g2 option).\n"); printf("2D occupancy grid will be assembled (-g2 option).\n");
} }
else if(strcmp(argv[i], "-g3") == 0) else if(strcmp(argv[i], "-g3") == 0 || strcmp(argv[i], "--g3") == 0)
{ {
assemble3dMap = true; assemble3dMap = true;
printf("3D cloud map will be assembled (-g3 option).\n"); printf("3D cloud map will be assembled (-g3 option).\n");
} }
else if(strcmp(argv[i], "-o2") == 0) else if(strcmp(argv[i], "-o2") == 0 || strcmp(argv[i], "--o2") == 0)
{ {
#ifdef RTABMAP_OCTOMAP #ifdef RTABMAP_OCTOMAP
assemble2dOctoMap = true; assemble2dOctoMap = true;
@@ -192,7 +196,7 @@ int main(int argc, char * argv[])
printf("RTAB-Map is not built with OctoMap support, cannot set -o2 option!\n"); printf("RTAB-Map is not built with OctoMap support, cannot set -o2 option!\n");
#endif #endif
} }
else if(strcmp(argv[i], "-o3") == 0) else if(strcmp(argv[i], "-o3") == 0 || strcmp(argv[i], "--o3") == 0)
{ {
#ifdef RTABMAP_OCTOMAP #ifdef RTABMAP_OCTOMAP
assemble3dOctoMap = true; assemble3dOctoMap = true;