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Tango: offset odom origin when reset

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matlabbe
2017-10-02 13:19:02 -04:00
parent 9abd925ab7
commit 83e7f06500
4 changed files with 47 additions and 6 deletions
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10
app/android/jni/RTABMapApp.cpp
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@@ -565,6 +565,11 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
rtabmap_->setOptimizedPoses(poses);
if(camera_)
{
camera_->resetOrigin();
}
// Start threads
LOGI("Start rtabmap thread");
rtabmapThread_->registerToEventsManager();
@@ -1997,6 +2002,11 @@ void RTABMapApp::resetMapping()
mapToOdom_.setIdentity();
clearSceneOnNextRender_ = true;
if(camera_)
{
camera_->resetOrigin();
}
UEventsManager::post(new rtabmap::RtabmapEventCmd(rtabmap::RtabmapEventCmd::kCmdResetMemory));
}