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fixed delete database action when memory is not yet initialized, enabled gpu SURF option when available

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1055 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-12-14 02:43:26 +00:00
parent a3c0158650
commit 4a150e3215
7 changed files with 73 additions and 64 deletions
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corelib/src/RtabmapThread.cpp
+7 -1
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@@ -157,6 +157,10 @@ void RtabmapThread::mainLoop()
_rtabmap->generateGraph(parameters.at("path"), atoi(parameters.at("id").c_str()), atoi(parameters.at("margin").c_str()));
break;
case kStateDeletingMemory:
if(!parameters.at("path").empty())
{
_rtabmap->setDatabasePath(parameters.at("path"));
}
_rtabmap->resetMemory(true);
this->clearBufferedData();
break;
@@ -243,7 +247,9 @@ void RtabmapThread::handleEvent(UEvent* event)
else if(cmd == RtabmapEventCmd::kCmdDeleteMemory)
{
ULOGGER_DEBUG("CMD_DELETE_MEMORY");
pushNewState(kStateDeletingMemory);
ParametersMap param;
param.insert(ParametersPair("path", rtabmapEvent->getStr()));
pushNewState(kStateDeletingMemory, param);
}
else if(cmd == RtabmapEventCmd::kCmdCleanDataBuffer)
{