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Rtabmap::detectorMoreLoopClosures() added intraSession and interSession parameters

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matlabbe
2018-11-05 18:40:08 -05:00
parent 4f1deef971
commit 09a63bbc5b
9 changed files with 529 additions and 323 deletions
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2
app/android/jni/RTABMapApp.cpp
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@@ -3094,7 +3094,7 @@ int RTABMapApp::postProcessing(int approach)
{
progressionStatus_.reset(6);
}
returnedValue = rtabmap_->detectMoreLoopClosures(1.0f, M_PI/6.0f, approach == -1?5:1, approach==-1?&progressionStatus_:0);
returnedValue = rtabmap_->detectMoreLoopClosures(1.0f, M_PI/6.0f, approach == -1?5:1, true, true, approach==-1?&progressionStatus_:0);
if(approach == -1 && progressionStatus_.isCanceled())
{
postProcessing_ = false;