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Fixed QMutex still locked on exit warning. Removing old parameters from ini file on saving. Memory: Removed completely the use of Vis/CorType (only used by F2F odom).

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This commit is contained in:
matlabbe
2018-10-04 17:09:03 -04:00
parent 16309e6d18
commit b717910db8
6 changed files with 45 additions and 29 deletions
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1
guilib/src/ConsoleWidget.cpp
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@@ -60,6 +60,7 @@ ConsoleWidget::ConsoleWidget(QWidget * parent) :
ConsoleWidget::~ConsoleWidget()
{
delete _ui;
_errorMessageMutex.unlock();
}
bool ConsoleWidget::handleEvent(UEvent * anEvent)

4
guilib/src/MainWindow.cpp
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@@ -4916,10 +4916,10 @@ void MainWindow::startDetection()
odomParameters.erase(Parameters::kRtabmapPublishRAMUsage()); // as odometry is in the same process than rtabmap, don't get RAM usage in odometry.
int odomStrategy = Parameters::defaultOdomStrategy();
Parameters::parse(odomParameters, Parameters::kOdomStrategy(), odomStrategy);
if(odomStrategy == 1)
if(odomStrategy != 1)
{
// Only Frame To Frame supports all VisCorType
odomParameters.insert(ParametersPair(Parameters::kVisCorType(), _preferencesDialog->getParameter(Parameters::kVisCorType())));
odomParameters.erase(Parameters::kVisCorType());
}
_imuThread = 0;
if((_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoImages ||

7
guilib/src/PreferencesDialog.cpp
View File

@@ -3242,9 +3242,6 @@ rtabmap::ParametersMap PreferencesDialog::getAllParameters() const
ParametersMap parameters = _parameters;
uInsert(parameters, _modifiedParameters);
// It will be added manually for odometry
parameters.erase(Parameters::kVisCorType());
return parameters;
}
@@ -5526,10 +5523,10 @@ void PreferencesDialog::testOdometry()
int odomStrategy = Parameters::defaultOdomStrategy();
Parameters::parse(parameters, Parameters::kOdomStrategy(), odomStrategy);
if(odomStrategy == 1)
if(odomStrategy != 1)
{
// Only Frame To Frame supports all VisCorType
parameters.insert(ParametersPair(Parameters::kVisCorType(), this->getParameter(Parameters::kVisCorType())));
parameters.erase(Parameters::kVisCorType());
}
Odometry * odometry = Odometry::create(parameters);