i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed signatures not saved after switching online from Mapping to Localization mode

Browse Source
This commit is contained in:
matlabbe
2015-11-27 17:59:38 -05:00
parent 2945abde9c
commit f2d6ff6748
1 changed files with 23 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Memory.cpp
+23 -14
View File
@@ -157,7 +157,7 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Clearing memory...")); if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Clearing memory..."));
DBDriver * tmpDriver = 0; DBDriver * tmpDriver = 0;
if(!_memoryChanged && !_linksChanged) if((!_memoryChanged && !_linksChanged) || dbOverwritten)
{ {
if(_dbDriver) if(_dbDriver)
{ {
@@ -428,19 +428,6 @@ void Memory::parseParameters(const ParametersMap & parameters)
UASSERT(_rehearsalMaxDistance >= 0.0f); UASSERT(_rehearsalMaxDistance >= 0.0f);
UASSERT(_rehearsalMaxAngle >= 0.0f); UASSERT(_rehearsalMaxAngle >= 0.0f);
// SLAM mode vs Localization mode
iter = parameters.find(Parameters::kMemIncrementalMemory());
if(iter != parameters.end())
{
bool value = uStr2Bool(iter->second.c_str());
if(value == false && _incrementalMemory)
{
// From SLAM to localization, change map id
this->incrementMapId();
}
_incrementalMemory = value;
}
if(_dbDriver) if(_dbDriver)
{ {
_dbDriver->parseParameters(parameters); _dbDriver->parseParameters(parameters);
@@ -539,6 +526,28 @@ void Memory::parseParameters(const ParametersMap & parameters)
{ {
_feature2D->parseParameters(parameters); _feature2D->parseParameters(parameters);
} }
// do this after all parameters are parsed
// SLAM mode vs Localization mode
iter = parameters.find(Parameters::kMemIncrementalMemory());
if(iter != parameters.end())
{
bool value = uStr2Bool(iter->second.c_str());
if(value == false && _incrementalMemory)
{
// From SLAM to localization, change map id
this->incrementMapId();
// The easiest way to make sure that the mapping session is saved
// is to save the memory in the database and reload it.
if((_memoryChanged || _linksChanged) && _dbDriver)
{
UWARN("Switching from Mapping to Localization mode, the database will be saved and reloaded.");
this->init(_dbDriver->getUrl());
}
}
_incrementalMemory = value;
}
} }
void Memory::preUpdate() void Memory::preUpdate()