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Improved/optimized Rtabmap timing performance for large datasets

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matlabbe
2018-11-08 17:39:16 -05:00
parent 3bb874825f
commit 8333677dc6
13 changed files with 588 additions and 467 deletions
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4
examples/WifiMapping/MapBuilder.h
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@@ -191,9 +191,9 @@ protected Q_SLOTS:
}
cloudViewer_->setCloudVisibility(cloudName, true);
}
else if(uContains(stats.getSignatures(), iter->first))
else if(iter->first == stats.getLastSignatureData().id())
{
Signature s = stats.getSignatures().at(iter->first);
Signature s = stats.getLastSignatureData();
s.sensorData().uncompressData(); // make sure data is uncompressed
// Add the new cloud
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudRGBFromSensorData(