Official RTAB-Map Forum - Re: GUI Save status simplification

Re: GUI Save status simplification

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/GUI-Save-status-simplification-tp4600p4608.html

Hi Bruno,

In the main loop of RtabmapThread under your kSavedStatus case, you may do:

case kSavedStatus:
   parameters = _rtabmap->getParameters();
   _rtabmap->close(true);
   _rtabmap->init(parameters, databasePath);

You would have to save databasePath somewhere, or send it again along your event like what is done for kStateInit. I updated the code to get the database url for convenience, so with this commit, we could do:

case kSavedStatus:
   parameters = _rtabmap->getParameters();
   str = _rtabmap->getMemory()->getDatabaseUrl();
   _rtabmap->close(true);
   _rtabmap->init(parameters, str);

cheers,
Mathieu