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Rtabmap::detectMoreLoopClosures(): publish more progression messages for every loop closure found. rtabmap-detectMoreLoopClosures: we can do ctrl-c to interrupt the processing safely.

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matlabbe
2019-03-27 15:39:46 -04:00
parent 80ef0e1a75
commit 8c92ed25e5
2 changed files with 34 additions and 6 deletions
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17
corelib/src/Rtabmap.cpp
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@@ -4333,13 +4333,22 @@ int Rtabmap::detectMoreLoopClosures(
if(updateConstraints)
{
UINFO("Added new loop closure between %d and %d.", from, to);
addedLinks.insert(from);
addedLinks.insert(to);
cv::Mat inf = getInformation(info.covariance);
links.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, t, inf)));
loopClosuresAdded.push_back(Link(from, to, Link::kUserClosure, t, inf));
UINFO("Detected loop closure %d->%d! (%d/%d)", from, to, i+1, (int)clusters.size());
std::string msg = uFormat("Iteration %d/%d: Added loop closure %d->%d! (%d/%d)", n+1, iterations, from, to, i+1, (int)clusters.size());
UINFO(msg.c_str());
if(processState)
{
UINFO(msg.c_str());
if(!processState->callback(msg))
{
return -1;
}
}
}
}
}
@@ -4349,7 +4358,7 @@ int Rtabmap::detectMoreLoopClosures(
if(processState)
{
std::string msg = uFormat("Iteration %d/%d: Detected %d loop closures!", n+1, iterations, (int)addedLinks.size()/2);
std::string msg = uFormat("Iteration %d/%d: Detected %d total loop closures!", n+1, iterations, (int)addedLinks.size()/2);
UINFO(msg.c_str());
if(!processState->callback(msg))
{
@@ -4358,7 +4367,7 @@ int Rtabmap::detectMoreLoopClosures(
}
else
{
UINFO("Iteration %d/%d: Detected %d loop closures!", n+1, iterations, (int)addedLinks.size()/2);
UINFO("Iteration %d/%d: Detected %d total loop closures!", n+1, iterations, (int)addedLinks.size()/2);
}
if(addedLinks.size() == 0)