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Added option in GUI to show image of the highest hypothesis

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git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@95 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-10 14:04:06 +00:00
parent 0f959382a8
commit b01f3191fa
5 changed files with 95 additions and 71 deletions
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14
corelib/src/Rtabmap.cpp
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@@ -915,7 +915,6 @@ void Rtabmap::process()
// Select next actions
//============================================================
const Signature * sLoop = 0;
int lcHypothesisReactivated = -1;
int highestHypothesisId = 0;
if(hypotheses.size() > 0)
{
@@ -924,12 +923,6 @@ void Rtabmap::process()
if(_lcHypothesisId > 0)
{
sLoop = _memory->getSignature(_lcHypothesisId);
//Just for stats
lcHypothesisReactivated = 0;
if(sLoop && sLoop->isSaved())
{
lcHypothesisReactivated = 1;
}
}
else if(highestHypothesisId > 0)
{
@@ -980,6 +973,7 @@ void Rtabmap::process()
int refUniqueWordsCount = 0;
const KeypointSignature * ssRef = 0;
const KeypointSignature * ssLoop = 0;
int lcHypothesisReactivated = 0;
KeypointMemory * kpMem = dynamic_cast<KeypointMemory *>(_memory);
if(kpMem)
{
@@ -1034,6 +1028,12 @@ void Rtabmap::process()
stat->addStatistic(Statistics::kParent_id(), signature->getLoopClosureId());
if(sLoop)
{
lcHypothesisReactivated = 0;
if(sLoop && sLoop->isSaved())
{
lcHypothesisReactivated = 1;
}
const IplImage * img = sLoop->getImage();
if(!img && _memory->isRawDataKept())
{