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rtabmap node: loading modified parameters in loaded database if not set already (in config.ini, ros params or arguments)

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matlabbe
2016-11-15 12:18:00 -05:00
parent 2fd3675440
commit 827f5d02d6
1 changed files with 28 additions and 0 deletions
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src/CoreWrapper.cpp
+28
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@@ -54,6 +54,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/OdometryEvent.h>
#include <rtabmap/core/Version.h>
#include <rtabmap/core/OccupancyGrid.h>
#include <rtabmap/core/DBDriver.h>
#ifdef WITH_OCTOMAP_ROS
#ifdef RTABMAP_OCTOMAP
@@ -351,6 +352,33 @@ void CoreWrapper::onInit()
parameters_.insert(ParametersPair(Parameters::kGridFromDepth(), "false"));
}
// modify default parameters with those in the database
if(!deleteDbOnStart)
{
ParametersMap dbParameters;
rtabmap::DBDriver * driver = rtabmap::DBDriver::create();
if(driver->openConnection(databasePath_))
{
dbParameters = driver->getLastParameters(); // parameter migration is already done
}
delete driver;
for(ParametersMap::iterator iter=dbParameters.begin(); iter!=dbParameters.end(); ++iter)
{
if(iter->first.compare(Parameters::kRtabmapWorkingDirectory()) == 0)
{
// ignore working directory
continue;
}
if(parameters_.find(iter->first) == parameters_.end() &&
allParameters.find(iter->first) != allParameters.end() &&
allParameters.find(iter->first)->second.compare(iter->second) !=0)
{
NODELET_INFO("Update RTAB-Map parameter \"%s\"=\"%s\" from database", iter->first.c_str(), iter->second.c_str());
parameters_.insert(*iter);
}
}
}
// Add all other parameters (not copied if already exists)
parameters_.insert(allParameters.begin(), allParameters.end());