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Fixed Tango build

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matlabbe
2019-02-12 16:48:37 -05:00
parent 3e71b3fe69
commit 15ca0da89e
1 changed files with 4 additions and 4 deletions
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8
app/android/jni/RTABMapApp.cpp
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@@ -1334,11 +1334,11 @@ int RTABMapApp::Render()
int smallMovement = (int)uValue(stats.data(), rtabmap::Statistics::kMemorySmall_movement(), 0.0f); int smallMovement = (int)uValue(stats.data(), rtabmap::Statistics::kMemorySmall_movement(), 0.0f);
int fastMovement = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryFast_movement(), 0.0f); int fastMovement = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryFast_movement(), 0.0f);
int rehearsalMerged = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryRehearsal_merged(), 0.0f); int rehearsalMerged = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryRehearsal_merged(), 0.0f);
if(!localizationMode_ && stats.getSignatures().size() && if(!localizationMode_ && stats.getLastSignatureData().id() > 0 &&
smallMovement == 0 && rehearsalMerged == 0 && fastMovement == 0) smallMovement == 0 && rehearsalMerged == 0 && fastMovement == 0)
{ {
int id = stats.getSignatures().rbegin()->first; int id = stats.getLastSignatureData().id();
const rtabmap::Signature & s = stats.getSignatures().rbegin()->second; const rtabmap::Signature & s = stats.getLastSignatureData();
if(!trajectoryMode_ && if(!trajectoryMode_ &&
!s.sensorData().imageRaw().empty() && !s.sensorData().imageRaw().empty() &&
@@ -3303,7 +3303,7 @@ bool RTABMapApp::handleEvent(UEvent * event)
{ {
const rtabmap::Statistics & stats = ((PostRenderEvent*)event)->getRtabmapEvent()->getStats(); const rtabmap::Statistics & stats = ((PostRenderEvent*)event)->getRtabmapEvent()->getStats();
loopClosureId = stats.loopClosureId()>0?stats.loopClosureId():stats.proximityDetectionId()>0?stats.proximityDetectionId():0; loopClosureId = stats.loopClosureId()>0?stats.loopClosureId():stats.proximityDetectionId()>0?stats.proximityDetectionId():0;
featuresExtracted = stats.getSignatures().size()?stats.getSignatures().rbegin()->second.getWords().size():0; featuresExtracted = stats.getLastSignatureData().getWords().size();
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryWorking_memory_size(), uValue(stats.data(), rtabmap::Statistics::kMemoryWorking_memory_size(), 0.0f))); uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryWorking_memory_size(), uValue(stats.data(), rtabmap::Statistics::kMemoryWorking_memory_size(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryShort_time_memory_size(), uValue(stats.data(), rtabmap::Statistics::kMemoryShort_time_memory_size(), 0.0f))); uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryShort_time_memory_size(), uValue(stats.data(), rtabmap::Statistics::kMemoryShort_time_memory_size(), 0.0f)));