From 30777b630af309e0d3cf934a6ebda94e1a0294da Mon Sep 17 00:00:00 2001 From: matlabbe Date: Tue, 29 Mar 2016 13:07:32 -0400 Subject: [PATCH] Fixed issue #10 (missing one iteration on rtabmap-console) --- corelib/src/Rtabmap.cpp | 8 +++++--- guilib/src/PostProcessingDialog.cpp | 2 +- tools/ConsoleApp/main.cpp | 4 ++-- 3 files changed, 8 insertions(+), 6 deletions(-) diff --git a/corelib/src/Rtabmap.cpp b/corelib/src/Rtabmap.cpp index c62da6fe..6b4ce551 100644 --- a/corelib/src/Rtabmap.cpp +++ b/corelib/src/Rtabmap.cpp @@ -375,6 +375,11 @@ void Rtabmap::parseParameters(const ParametersMap & parameters) { uInsert(_parameters, parameters); + // place this before changing working directory + Parameters::parse(parameters, Parameters::kRtabmapStatisticLogsBufferedInRAM(), _statisticLogsBufferedInRAM); + Parameters::parse(parameters, Parameters::kRtabmapStatisticLogged(), _statisticLogged); + Parameters::parse(parameters, Parameters::kRtabmapStatisticLoggedHeaders(), _statisticLoggedHeaders); + ULOGGER_DEBUG(""); ParametersMap::const_iterator iter; if((iter=parameters.find(Parameters::kRtabmapWorkingDirectory())) != parameters.end()) @@ -393,9 +398,6 @@ void Rtabmap::parseParameters(const ParametersMap & parameters) Parameters::parse(parameters, Parameters::kRtabmapMaxRetrieved(), _maxRetrieved); Parameters::parse(parameters, Parameters::kRGBDMaxLocalRetrieved(), _maxLocalRetrieved); Parameters::parse(parameters, Parameters::kMemImageKept(), _rawDataKept); - Parameters::parse(parameters, Parameters::kRtabmapStatisticLogsBufferedInRAM(), _statisticLogsBufferedInRAM); - Parameters::parse(parameters, Parameters::kRtabmapStatisticLogged(), _statisticLogged); - Parameters::parse(parameters, Parameters::kRtabmapStatisticLoggedHeaders(), _statisticLoggedHeaders); Parameters::parse(parameters, Parameters::kRGBDEnabled(), _rgbdSlamMode); Parameters::parse(parameters, Parameters::kRGBDLinearUpdate(), _rgbdLinearUpdate); Parameters::parse(parameters, Parameters::kRGBDAngularUpdate(), _rgbdAngularUpdate); diff --git a/guilib/src/PostProcessingDialog.cpp b/guilib/src/PostProcessingDialog.cpp index 97ef35c0..50a607fc 100644 --- a/guilib/src/PostProcessingDialog.cpp +++ b/guilib/src/PostProcessingDialog.cpp @@ -73,7 +73,7 @@ PostProcessingDialog::PostProcessingDialog(QWidget * parent) : connect(_ui->sba, SIGNAL(clicked(bool)), this, SIGNAL(configChanged())); connect(_ui->sba_iterations, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged())); connect(_ui->sba_epsilon, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged())); - connect(_ui->comboBox_sbaType, SIGNAL(indexChanged(int)), this, SIGNAL(configChanged())); + connect(_ui->comboBox_sbaType, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged())); } PostProcessingDialog::~PostProcessingDialog() diff --git a/tools/ConsoleApp/main.cpp b/tools/ConsoleApp/main.cpp index 79743723..5d5651a8 100644 --- a/tools/ConsoleApp/main.cpp +++ b/tools/ConsoleApp/main.cpp @@ -54,7 +54,7 @@ void showUsage() " -repeat # Repeat the process on the data set # times (minimum of 1)\n" " -createGT Generate a ground truth file\n" " -start_at # When \"path\" is a directory of images, set this parameter\n" - " to start processing at image # (default 1).\n" + " to start processing at image # (default 0).\n" " -v Get version of RTAB-Map\n" " -input \"path\" Load previous database if it exists.\n" "%s\n", @@ -99,7 +99,7 @@ int main(int argc, char * argv[]) int repeat = 0; bool createGT = false; std::string inputDbPath; - int startAt = 1; + int startAt = 0; for(int i=1; i