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GUI: fixed latest data requested on localization mode

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This commit is contained in:
matlabbe
2022-10-31 13:21:13 -07:00
parent def876983d
commit 2889cf8048
1 changed files with 2 additions and 3 deletions
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5
guilib/src/MainWindow.cpp
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@@ -1947,7 +1947,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
signature = _cachedSignatures.value(rehearsalMerged);
}
int newIdIsTemporary = 0;
if(signature.id()!=0)
{
// make sure data are uncompressed
@@ -1977,7 +1976,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
if(smallMovement || fastMovement)
{
_cachedSignatures.insert(0, signature); // zero means temporary
newIdIsTemporary = stat.refImageId();
}
else
{
@@ -2616,9 +2614,10 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
atoi(_preferencesDialog->getParameter(Parameters::kRtabmapMaxRepublished()).c_str()) > 0)
{
std::vector<int> missingIds;
bool ignoreNewData = smallMovement || fastMovement || signature.getWeight()<0;
for(std::map<int, Transform>::const_iterator iter=stat.poses().begin(); iter!=stat.poses().end(); ++iter)
{
if(newIdIsTemporary != iter->first)
if(!ignoreNewData || stat.refImageId() != iter->first)
{
QMap<int, Signature>::iterator ster = _cachedSignatures.find(iter->first);
if(ster == _cachedSignatures.end() ||