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modified how correspondences ratio is computed (icp 2D and 3D), also fixed build with OpenCV3+Cuda

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Mathieu Labbé
2015-07-11 12:42:46 -04:00
parent bf295c4274
commit 2d7be6be48
12 changed files with 388 additions and 339 deletions
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corelib/src/Rtabmap.cpp
+3 -3
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@@ -1553,7 +1553,7 @@ bool Rtabmap::process(
iter!=retrievalLocalIds.end() && retrievalLocalIds.size() < _maxLocalRetrieved;
++iter)
{
std::map<int, int> ids = _memory->getNeighborsId(*iter, 2, _maxLocalRetrieved - retrievalLocalIds.size() + 1, true, false);
std::map<int, int> ids = _memory->getNeighborsId(*iter, 2, _maxLocalRetrieved - (unsigned int)retrievalLocalIds.size() + 1, true, false);
for(std::map<int, int>::reverse_iterator jter=ids.rbegin();
jter!=ids.rend() && retrievalLocalIds.size() < _maxLocalRetrieved;
++jter)
@@ -2311,7 +2311,7 @@ bool Rtabmap::process(
statistics_.setConstraints(constraints);
statistics_.setSignatures(signatures);
statistics_.addStatistic(Statistics::kMemoryLocal_graph_size(), poses.size());
localGraphSize = poses.size();
localGraphSize = (int)poses.size();
}
//Start trashing
@@ -3053,7 +3053,7 @@ bool Rtabmap::computePath(int targetNode, bool global)
{
// set goal to latest signature
std::string goalStr = uFormat("GOAL:%d", targetNode);
setUserData(0, cv::Mat(1, goalStr.size()+1, CV_8SC1, (void *)goalStr.c_str()).clone());
setUserData(0, cv::Mat(1, int(goalStr.size()+1), CV_8SC1, (void *)goalStr.c_str()).clone());
}
updateGoalIndex();
}