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Fixed Stereo parameters not used for OdometryBOW. Saving parameters in Memory and Feature2D to re-use old parameters when underlaying algorithm strategies are re-created.

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This commit is contained in:
matlabbe
2016-01-04 11:41:13 -05:00
parent 51300dde06
commit b578fc732e
11 changed files with 37 additions and 26 deletions
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corelib/src/Rtabmap.cpp
+5 -3
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@@ -362,11 +362,13 @@ void Rtabmap::close(bool databaseSaved)
}
_databasePath.clear();
parseParameters(Parameters::getDefaultParameters()); // reset to default parameters
_modifiedParameters.clear();
_parameters.clear();
}
void Rtabmap::parseParameters(const ParametersMap & parameters)
{
uInsert(_parameters, parameters);
ULOGGER_DEBUG("");
ParametersMap::const_iterator iter;
if((iter=parameters.find(Parameters::kRtabmapWorkingDirectory())) != parameters.end())
@@ -481,7 +483,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
for(ParametersMap::const_iterator iter = parameters.begin(); iter!=parameters.end(); ++iter)
{
uInsert(_modifiedParameters, ParametersPair(iter->first, iter->second));
uInsert(_parameters, ParametersPair(iter->first, iter->second));
}
}
@@ -776,7 +778,7 @@ void Rtabmap::resetMemory()
if(_memory)
{
_memory->init(_databasePath, true, _modifiedParameters, true);
_memory->init(_databasePath, true, _parameters, true);
if(_memory->getLastWorkingSignature())
{
optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), false, _optimizedPoses, &_constraints);