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RGBD/StartAtOrigin: set first node of the graph, not Identity

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matlabbe
2021-12-20 17:01:08 -05:00
parent 8662eb0dd7
commit 7ca881453e
1 changed files with 9 additions and 1 deletions
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corelib/src/Rtabmap.cpp
+9 -1
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@@ -343,6 +343,8 @@ void Rtabmap::init(const ParametersMap & parameters, const std::string & databas
_constraints.clear(); _constraints.clear();
_globalScanMap.clear(); _globalScanMap.clear();
_globalScanMapPoses.clear(); _globalScanMapPoses.clear();
_odomCachePoses.clear();
_odomCacheConstraints.clear();
// Parse all parameters // Parse all parameters
this->parseParameters(allParameters); this->parseParameters(allParameters);
@@ -365,7 +367,7 @@ void Rtabmap::init(const ParametersMap & parameters, const std::string & databas
if(_restartAtOrigin) if(_restartAtOrigin)
{ {
UWARN("last localization pose is ignored (%s=true), assuming we start at the origin of the map.", Parameters::kRGBDStartAtOrigin().c_str()); UWARN("last localization pose is ignored (%s=true), assuming we start at the origin of the map.", Parameters::kRGBDStartAtOrigin().c_str());
lastPose.setIdentity(); lastPose = _optimizedPoses.begin()->second;
} }
_lastLocalizationPose = lastPose; _lastLocalizationPose = lastPose;
@@ -654,6 +656,12 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
{ {
this->createGlobalScanMap(); this->createGlobalScanMap();
} }
if(_memory->isIncremental())
{
_odomCachePoses.clear();
_odomCacheConstraints.clear();
}
} }
if(!_epipolarGeometry) if(!_epipolarGeometry)