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Working dir path: convert ~ to Home for convenience. Localization: don't show "cannot optimize" warning when RGBD/MaxOdomCacheSize=0

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matlabbe
2021-12-24 18:24:44 -05:00
parent 7ca881453e
commit 93ee8f9b30
1 changed files with 2 additions and 1 deletions
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3
corelib/src/Rtabmap.cpp
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@@ -2948,7 +2948,7 @@ bool Rtabmap::process(
maxAngularError,
&maxLinearLink,
&maxAngularLink);
if(maxLinearLink == 0 && maxAngularLink==0)
if(maxLinearLink == 0 && maxAngularLink==0 && _maxOdomCacheSize>0)
{
UWARN("Could not compute graph errors! Wrong loop closures could be accepted!");
optPoses = posesOut;
@@ -4085,6 +4085,7 @@ void Rtabmap::setTimeThreshold(float maxTimeAllowed)
void Rtabmap::setWorkingDirectory(std::string path)
{
path = uReplaceChar(path, '~', UDirectory::homeDir());
if(!path.empty() && UDirectory::exists(path))
{
ULOGGER_DEBUG("Comparing new working directory path \"%s\" with \"%s\"", path.c_str(), _wDir.c_str());