From 009e985d93f7606d7ae2ef29f0ed67d00ef3c745 Mon Sep 17 00:00:00 2001
From: laobai <bai@q.com>
Date: Sun, 24 Apr 2022 23:16:35 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E4=BF=9D=E5=AD=98=E5=9C=B0?=
 =?UTF-8?q?=E5=9B=BE=E6=97=B6=E4=BC=9A=E5=B4=A9=E5=9D=8Fbug?=
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---
 src/Optimizer.cc |  1 +
 src/System.cc    | 34 ++++++++++++++++++++++------------
 2 files changed, 23 insertions(+), 12 deletions(-)

diff --git a/src/Optimizer.cc b/src/Optimizer.cc
index 6e5d9ca..8fbb877 100644
--- a/src/Optimizer.cc
+++ b/src/Optimizer.cc
@@ -2832,6 +2832,7 @@ void Optimizer::LocalInertialBA(KeyFrame *pKF, bool *pbStopFlag, Map *pMap, int&
     }
 
     //cout << "Total map points: " << lLocalMapPoints.size() << endl;
+    // TODO debug会报错先注释掉
     for(map<int,int>::iterator mit=mVisEdges.begin(), mend=mVisEdges.end(); mit!=mend; mit++)
     {
         assert(mit->second>=3);
diff --git a/src/System.cc b/src/System.cc
index bdebe78..9620b73 100644
--- a/src/System.cc
+++ b/src/System.cc
@@ -569,6 +569,13 @@ void System::Shutdown()
 
     cout << "Shutdown" << endl;
 
+    if (mpViewer)
+    {
+        mpViewer->RequestFinish();
+        while (!mpViewer->isFinished())
+            usleep(5000);
+    }
+
     mpLocalMapper->RequestFinish();
     mpLoopCloser->RequestFinish();
     /*if(mpViewer)
@@ -579,22 +586,25 @@ void System::Shutdown()
     }*/
 
     // Wait until all thread have effectively stopped
-    /*while(!mpLocalMapper->isFinished() || !mpLoopCloser->isFinished() || mpLoopCloser->isRunningGBA())
+    // 源代码这里注释掉了，但是不执行会有锁报错
+    while(!mpLocalMapper->isFinished() || !mpLoopCloser->isFinished() || mpLoopCloser->isRunningGBA())
     {
-        if(!mpLocalMapper->isFinished())
-            cout << "mpLocalMapper is not finished" << endl;*/
-        /*if(!mpLoopCloser->isFinished())
-            cout << "mpLoopCloser is not finished" << endl;
-        if(mpLoopCloser->isRunningGBA()){
-            cout << "mpLoopCloser is running GBA" << endl;
-            cout << "break anyway..." << endl;
-            break;
-        }*/
-        /*usleep(5000);
-    }*/
+        // if(!mpLocalMapper->isFinished())
+        //     cout << "mpLocalMapper is not finished" << endl;
+        // if(!mpLoopCloser->isFinished())
+        //     cout << "mpLoopCloser is not finished" << endl;
+        // if(mpLoopCloser->isRunningGBA()){
+        //     cout << "mpLoopCloser is running GBA" << endl;
+        //     cout << "break anyway..." << endl;
+        //     break;
+        // }
+        usleep(5000);
+    }
+
 
     if(!mStrSaveAtlasToFile.empty())
     {
+        std::cout << "开始保存地图" << std::endl;
         Verbose::PrintMess("Atlas saving to file " + mStrSaveAtlasToFile, Verbose::VERBOSITY_NORMAL);
         SaveAtlas(FileType::BINARY_FILE);
     }