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fixed reset UPlot on rehearsal after small movement detected. GUI: modified color for pose correction (DarkCyan) and small movement (Gray)

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matlabbe
2015-09-14 11:31:26 -04:00
parent af32830969
commit 53fa85e38a
5 changed files with 12 additions and 4 deletions
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2
corelib/src/Memory.cpp
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@@ -3287,7 +3287,7 @@ bool Memory::rehearsalMerge(int oldId, int newId)
UERROR("newId=%d, oldId=%d, Signature %d not found in working/st memories", newId, oldId, oldId);
}
}
return false; // means that the newS can be removed without problem
return false;
}
Transform Memory::getOdomPose(int signatureId, bool lookInDatabase) const

4
corelib/src/Rtabmap.cpp
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@@ -2222,7 +2222,7 @@ bool Rtabmap::process(
if(_loopClosureHypothesis.first || _publishStats)
{
ULOGGER_INFO("sending stats...");
statistics_.setRefImageId(signature->id());
statistics_.setRefImageId(_memory->getLastSignatureId()); // Use last id from Memory (in case of rehearsal)
if(_loopClosureHypothesis.first != Memory::kIdInvalid)
{
statistics_.setLoopClosureId(_loopClosureHypothesis.first);
@@ -2284,6 +2284,8 @@ bool Rtabmap::process(
//Epipolar geometry constraint
statistics_.addStatistic(Statistics::kLoopRejectedHypothesis(), rejectedHypothesis?1.0f:0);
statistics_.addStatistic(Statistics::kMemorySmall_movement(), smallDisplacement?1.0f:0);
if(_publishLikelihood || _publishPdf)
{
// Child count by parent signature on the root of the memory ... for statistics