i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 10:00:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

gui: fixed wrongly showing landmark rejected when it was not (because a loop closure was rejected at the same time)

Browse Source
This commit is contained in:
matlabbe
2022-09-19 12:23:18 -07:00
parent 737675c6f1
commit 95a76cb696
2 changed files with 2 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
corelib/src/Rtabmap.cpp
View File

@@ -2907,6 +2907,7 @@ bool Rtabmap::process(
{ {
UINFO("Landmark %d observed again! Seen the first time by node %d.", -iter->first, *_memory->getLandmarksIndex().find(iter->first)->second.begin()); UINFO("Landmark %d observed again! Seen the first time by node %d.", -iter->first, *_memory->getLandmarksIndex().find(iter->first)->second.begin());
landmarksDetected.insert(std::make_pair(iter->first, _memory->getLandmarksIndex().find(iter->first)->second)); landmarksDetected.insert(std::make_pair(iter->first, _memory->getLandmarksIndex().find(iter->first)->second));
rejectedGlobalLoopClosure = false; // If it was true, it will be set back to false if landmarks are rejected on graph optimization
} }
} }
} }

1
guilib/src/MainWindow.cpp
View File

@@ -2103,6 +2103,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
} }
else if(landmarkId!=0) else if(landmarkId!=0)
{ {
highestHypothesisId = landmarkNodeRef;
if(rejectedHyp) if(rejectedHyp)
{ {
show = _preferencesDialog->imageRejectedShown(); show = _preferencesDialog->imageRejectedShown();