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0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)

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matlabbe
2017-03-12 21:21:09 -04:00
parent c12980ee91
commit d21ae76fff
56 changed files with 1869 additions and 662 deletions
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corelib/src/Rtabmap.cpp
+6
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@@ -3456,6 +3456,12 @@ int Rtabmap::detectMoreLoopClosures(float clusterRadius, float clusterAngle, int
std::set<int> addedLinks;
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!= clusters.end(); ++iter, ++i)
{
if(processState && processState->isCanceled())
{
return -1;
break;
}
int from = iter->first;
int to = iter->second;
if(iter->first < iter->second)