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Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture

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matlabbe
2017-02-28 21:50:50 -05:00
parent b76952f016
commit c9f6dabfc6
20 changed files with 776 additions and 268 deletions
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corelib/src/Rtabmap.cpp
+16 -2
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@@ -3404,7 +3404,7 @@ void Rtabmap::getGraph(
}
}
int Rtabmap::detectMoreLoopClosures(float clusterRadius, float clusterAngle, int iterations)
int Rtabmap::detectMoreLoopClosures(float clusterRadius, float clusterAngle, int iterations, const ProgressState * processState)
{
UASSERT(iterations>0);
@@ -3492,7 +3492,21 @@ int Rtabmap::detectMoreLoopClosures(float clusterRadius, float clusterAngle, int
}
}
}
UINFO("Iteration %d/%d: Detected %d loop closures!", n+1, iterations, (int)addedLinks.size()/2);
if(processState)
{
std::string msg = uFormat("Iteration %d/%d: Detected %d loop closures!", n+1, iterations, (int)addedLinks.size()/2);
UINFO(msg.c_str());
if(!processState->callback(msg))
{
return -1;
}
}
else
{
UINFO("Iteration %d/%d: Detected %d loop closures!", n+1, iterations, (int)addedLinks.size()/2);
}
if(addedLinks.size() == 0)
{
break;