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fixed #152

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matlabbe
2016-12-05 15:53:19 -05:00
parent cd62e67011
commit 6550a52cee
3 changed files with 15 additions and 10 deletions
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corelib/src/CameraModel.cpp
+5 -2
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@@ -180,8 +180,11 @@ void CameraModel::setImageSize(const cv::Size & size)
P_.at<double>(0,2) = ncx; P_.at<double>(0,2) = ncx;
P_.at<double>(1,2) = ncy; P_.at<double>(1,2) = ncy;
} }
K_.at<double>(0,2) = ncx; if(!K_.empty())
K_.at<double>(1,2) = ncy; {
K_.at<double>(0,2) = ncx;
K_.at<double>(1,2) = ncy;
}
} }
bool CameraModel::load(const std::string & directory, const std::string & cameraName) bool CameraModel::load(const std::string & directory, const std::string & cameraName)
corelib/src/Rtabmap.cpp
+2
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@@ -270,6 +270,7 @@ void Rtabmap::flushStatisticLogs()
void Rtabmap::init(const ParametersMap & parameters, const std::string & databasePath) void Rtabmap::init(const ParametersMap & parameters, const std::string & databasePath)
{ {
UDEBUG("path=%s", databasePath.c_str());
ParametersMap::const_iterator iter; ParametersMap::const_iterator iter;
if((iter=parameters.find(Parameters::kRtabmapWorkingDirectory())) != parameters.end()) if((iter=parameters.find(Parameters::kRtabmapWorkingDirectory())) != parameters.end())
{ {
@@ -777,6 +778,7 @@ void Rtabmap::exportPoses(const std::string & path, bool optimized, bool global,
void Rtabmap::resetMemory() void Rtabmap::resetMemory()
{ {
UDEBUG("");
_highestHypothesis = std::make_pair(0,0.0f); _highestHypothesis = std::make_pair(0,0.0f);
_loopClosureHypothesis = std::make_pair(0,0.0f); _loopClosureHypothesis = std::make_pair(0,0.0f);
_lastProcessTime = 0.0; _lastProcessTime = 0.0;
tools/ConsoleApp/main.cpp
+8 -8
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@@ -278,14 +278,14 @@ int main(int argc, char * argv[])
uInsert(pm, ParametersPair(Parameters::kRtabmapPublishStats(), "false")); uInsert(pm, ParametersPair(Parameters::kRtabmapPublishStats(), "false"));
uInsert(pm, ParametersPair(Parameters::kRGBDEnabled(), "false")); uInsert(pm, ParametersPair(Parameters::kRGBDEnabled(), "false"));
// Process an empty image to make sure every libraries are loaded. // Process an empty image to make sure every libraries are loaded.
ULogger::Level level = ULogger::level(); ULogger::Level level = ULogger::level();
ULogger::setLevel(ULogger::kError); ULogger::setLevel(ULogger::kError);
cv::Mat tmp = cv::Mat::zeros(640,480,CV_8UC1); cv::Mat tmp = cv::Mat::zeros(640,480,CV_8UC1);
rtabmap.init(pm); rtabmap.init(pm);
rtabmap.process(tmp); rtabmap.process(tmp);
rtabmap.close(); rtabmap.close(false);
ULogger::setLevel(level); ULogger::setLevel(level);
rtabmap.init(pm, inputDbPath); rtabmap.init(pm, inputDbPath);