From 9b6d662aaf6cc31904ab15846ba72b379754864a Mon Sep 17 00:00:00 2001 From: matlabbe Date: Mon, 4 Jan 2016 11:48:48 -0500 Subject: [PATCH] Rtabmap::parseParameters(): Re-using old parameters (if not updated) when graph optimization approach is re-created. --- corelib/src/Rtabmap.cpp | 11 +++-------- 1 file changed, 3 insertions(+), 8 deletions(-) diff --git a/corelib/src/Rtabmap.cpp b/corelib/src/Rtabmap.cpp index 8b7f483b..4fd8fe83 100644 --- a/corelib/src/Rtabmap.cpp +++ b/corelib/src/Rtabmap.cpp @@ -434,7 +434,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters) _graphOptimizer = 0; } - _graphOptimizer = Optimizer::create(optimizerType, parameters); + _graphOptimizer = Optimizer::create(optimizerType, _parameters); } else if(_graphOptimizer) { @@ -459,7 +459,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters) } if(!_epipolarGeometry && vhStrategy == kVhEpipolar) { - _epipolarGeometry = new EpipolarGeometry(parameters); + _epipolarGeometry = new EpipolarGeometry(_parameters); } else if(_epipolarGeometry && vhStrategy == kVhNone) { @@ -474,17 +474,12 @@ void Rtabmap::parseParameters(const ParametersMap & parameters) // Bayes filter, create one if not exists if(!_bayesFilter) { - _bayesFilter = new BayesFilter(parameters); + _bayesFilter = new BayesFilter(_parameters); } else { _bayesFilter->parseParameters(parameters); } - - for(ParametersMap::const_iterator iter = parameters.begin(); iter!=parameters.end(); ++iter) - { - uInsert(_parameters, ParametersPair(iter->first, iter->second)); - } } int Rtabmap::getLastLocationId() const