From 9270fc9ca9a0e8e4ca1cb0d1e7a405e6568d5cee Mon Sep 17 00:00:00 2001 From: matlabbe Date: Wed, 6 Apr 2016 17:02:31 -0400 Subject: [PATCH] Fixed OptimizerG2O::pixelVariance_ not initialized --- app/android/jni/RTABMapApp.cpp | 1 + corelib/include/rtabmap/core/OptimizerG2O.h | 3 ++- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/app/android/jni/RTABMapApp.cpp b/app/android/jni/RTABMapApp.cpp index 85f67616..11434206 100644 --- a/app/android/jni/RTABMapApp.cpp +++ b/app/android/jni/RTABMapApp.cpp @@ -855,6 +855,7 @@ int RTABMapApp::postProcessing(int approach) rtabmap::ParametersMap param; param.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "30")); + param.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0")); rtabmap::Optimizer * sba = rtabmap::Optimizer::create(rtabmap::Optimizer::kTypeG2O, param); poses = sba->optimizeBA(poses.rbegin()->first, poses, links, signatures); delete sba; diff --git a/corelib/include/rtabmap/core/OptimizerG2O.h b/corelib/include/rtabmap/core/OptimizerG2O.h index 5ed24b47..1fe6c949 100644 --- a/corelib/include/rtabmap/core/OptimizerG2O.h +++ b/corelib/include/rtabmap/core/OptimizerG2O.h @@ -50,7 +50,8 @@ public: OptimizerG2O(const ParametersMap & parameters = ParametersMap()) : Optimizer(parameters), solver_(Parameters::defaultg2oSolver()), - optimizer_(Parameters::defaultg2oOptimizer()) + optimizer_(Parameters::defaultg2oOptimizer()), + pixelVariance_(Parameters::defaultg2oPixelVariance()) { parseParameters(parameters); }