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Fixed OptimizerG2O::pixelVariance_ not initialized

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matlabbe
2016-04-06 17:02:31 -04:00
parent d2ebdea96d
commit 9270fc9ca9
2 changed files with 3 additions and 1 deletions
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app/android/jni/RTABMapApp.cpp
+1
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@@ -855,6 +855,7 @@ int RTABMapApp::postProcessing(int approach)
rtabmap::ParametersMap param; rtabmap::ParametersMap param;
param.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "30")); param.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "30"));
param.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0"));
rtabmap::Optimizer * sba = rtabmap::Optimizer::create(rtabmap::Optimizer::kTypeG2O, param); rtabmap::Optimizer * sba = rtabmap::Optimizer::create(rtabmap::Optimizer::kTypeG2O, param);
poses = sba->optimizeBA(poses.rbegin()->first, poses, links, signatures); poses = sba->optimizeBA(poses.rbegin()->first, poses, links, signatures);
delete sba; delete sba;
corelib/include/rtabmap/core/OptimizerG2O.h
+2 -1
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@@ -50,7 +50,8 @@ public:
OptimizerG2O(const ParametersMap & parameters = ParametersMap()) : OptimizerG2O(const ParametersMap & parameters = ParametersMap()) :
Optimizer(parameters), Optimizer(parameters),
solver_(Parameters::defaultg2oSolver()), solver_(Parameters::defaultg2oSolver()),
optimizer_(Parameters::defaultg2oOptimizer()) optimizer_(Parameters::defaultg2oOptimizer()),
pixelVariance_(Parameters::defaultg2oPixelVariance())
{ {
parseParameters(parameters); parseParameters(parameters);
} }