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rtabmap: fixed support of fixed memory and fixed dictionary (localization-only mode from an already built database) -> updated rtabmap example with "-l" option for localization mode

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@878 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-06-06 13:41:49 +00:00
parent 504e51db12
commit 30ab6dca0e
4 changed files with 133 additions and 100 deletions
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14
guilib/src/MainWindow.cpp
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@@ -487,7 +487,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
//means it will never used for a loop closure detection
if(_preferencesDialog->isImagesKept())
{
if(stat.loopClosureId()>0 || highestHypothesisId>0)
if(stat.loopClosureId()>0 || highestHypothesisId>0 || stat.localLoopClosureId()>0)
{
// order -> loop closure id -> local loop closure id -> highest loop closure hyp id
int id = stat.loopClosureId()>0?stat.loopClosureId():stat.localLoopClosureId()>0?stat.localLoopClosureId():highestHypothesisId;
@@ -506,19 +506,12 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
int rejectedHyp = bool(uValue(stat.data(), Statistics::kLoopRejectedHypothesis(), 0.0f));
float highestHypothesisValue = uValue(stat.data(), Statistics::kLoopHighest_hypothesis_value(), 0.0f);
int matchId = 0;
if(highestHypothesisId > 0 || stat.localLoopClosureId())
if(highestHypothesisId > 0 || stat.localLoopClosureId()>0)
{
bool show = true;
if(stat.loopClosureId() > 0)
{
if(highestHypothesisId != stat.loopClosureId())
{
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::yellow));
}
else
{
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::green));
}
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::green));
_ui->label_stats_loopClosuresDetected->setText(QString::number(_ui->label_stats_loopClosuresDetected->text().toInt() + 1));
if(highestHypothesisIsSaved)
{
@@ -531,7 +524,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::yellow));
_ui->label_matchId->setText(QString("Local match (%1)").arg(stat.localLoopClosureId()));
}
else if(rejectedHyp && highestHypothesisValue >= _preferencesDialog->getLoopThr())
{