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Rtabmap: Refactored how fake odom is generated in localization mode when no odom is provided. Trigger new map in localization mode also clears last localization pose if RGBD/SavedLocalizationIgnored is true.

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matlabbe
2020-06-08 10:14:21 -04:00
parent 86ac63ab19
commit 6029b6283d
5 changed files with 56 additions and 41 deletions
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corelib/include/rtabmap/core/Statistics.h
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@@ -61,6 +61,7 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Loop, Reactivate_id,);
RTABMAP_STATS(Loop, Hypothesis_ratio,);
RTABMAP_STATS(Loop, Hypothesis_reactivated,);
RTABMAP_STATS(Loop, Map_id,);
RTABMAP_STATS(Loop, Visual_words,);
RTABMAP_STATS(Loop, Visual_inliers,);
RTABMAP_STATS(Loop, Visual_matches,);