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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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tools/Reprocess/main.cpp
+1 -4
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@@ -399,10 +399,7 @@ int main(int argc, char * argv[])
showLocalizationStats();
lastLocalizationOdomPose = info.odomPose;
}
if(incrementalMemory)
{
rtabmap.triggerNewMap();
}
rtabmap.triggerNewMap();
}
UTimer t;
if(!rtabmap.process(data, info.odomPose, info.odomCovariance, info.odomVelocity, globalMapStats))