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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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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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7
guilib/src/PreferencesDialog.cpp
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@@ -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);