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Fixed map::at() seg fault when localizing on a database with multiple disjoint sessions

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matlabbe
2022-09-13 06:19:23 +00:00
parent 0dc5fbdd70
commit 749cd096ff
2 changed files with 16 additions and 5 deletions
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6
tools/Reprocess/main.cpp
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@@ -799,15 +799,15 @@ int main(int argc, char * argv[])
++loopCountMotion;
}
int loopMapId = stats.loopClosureId() > 0? stats.loopClosureMapId(): stats.proximityDetectionMapId();
printf("Processed %d/%d nodes [id=%d map=%d]... %dms %s on %d [%d]\n", ++processed, totalIds, refId, refMapId, int(iterationTime.ticks() * 1000), stats.loopClosureId() > 0?"Loop":"Prox", loopId, loopMapId);
printf("Processed %d/%d nodes [id=%d map=%d opt_graph=%d]... %dms %s on %d [%d]\n", ++processed, totalIds, refId, refMapId, int(stats.poses().size()), int(iterationTime.ticks() * 1000), stats.loopClosureId() > 0?"Loop":"Prox", loopId, loopMapId);
}
else if(landmarkId != 0)
{
printf("Processed %d/%d nodes [id=%d map=%d]... %dms Loop on landmark %d\n", ++processed, totalIds, refId, refMapId, int(iterationTime.ticks() * 1000), landmarkId);
printf("Processed %d/%d nodes [id=%d map=%d opt_graph=%d]... %dms Loop on landmark %d\n", ++processed, totalIds, refId, refMapId, int(stats.poses().size()), int(iterationTime.ticks() * 1000), landmarkId);
}
else
{
printf("Processed %d/%d nodes [id=%d map=%d]... %dms\n", ++processed, totalIds, refId, refMapId, int(iterationTime.ticks() * 1000));
printf("Processed %d/%d nodes [id=%d map=%d opt_graph=%d]... %dms\n", ++processed, totalIds, refId, refMapId, int(stats.poses().size()), int(iterationTime.ticks() * 1000));
}
// Here we accumulate statistics about distance from last localization