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fixed #152

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This commit is contained in:
matlabbe
2016-12-05 15:53:19 -05:00
parent cd62e67011
commit 6550a52cee
3 changed files with 15 additions and 10 deletions
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7
corelib/src/CameraModel.cpp
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@@ -180,8 +180,11 @@ void CameraModel::setImageSize(const cv::Size & size)
P_.at<double>(0,2) = ncx;
P_.at<double>(1,2) = ncy;
}
K_.at<double>(0,2) = ncx;
K_.at<double>(1,2) = ncy;
if(!K_.empty())
{
K_.at<double>(0,2) = ncx;
K_.at<double>(1,2) = ncy;
}
}
bool CameraModel::load(const std::string & directory, const std::string & cameraName)

2
corelib/src/Rtabmap.cpp
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@@ -270,6 +270,7 @@ void Rtabmap::flushStatisticLogs()
void Rtabmap::init(const ParametersMap & parameters, const std::string & databasePath)
{
UDEBUG("path=%s", databasePath.c_str());
ParametersMap::const_iterator iter;
if((iter=parameters.find(Parameters::kRtabmapWorkingDirectory())) != parameters.end())
{
@@ -777,6 +778,7 @@ void Rtabmap::exportPoses(const std::string & path, bool optimized, bool global,
void Rtabmap::resetMemory()
{
UDEBUG("");
_highestHypothesis = std::make_pair(0,0.0f);
_loopClosureHypothesis = std::make_pair(0,0.0f);
_lastProcessTime = 0.0;