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Updated how local scan matching is done (doing it on segmented local paths)

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Mathieu Labbe
2015-04-27 02:43:06 -04:00
parent 2e706ed01f
commit db90da7303
16 changed files with 532 additions and 226 deletions
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8
tools/OdometryViewer/main.cpp
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@@ -705,10 +705,16 @@ int main (int argc, char * argv[])
if(inputDatabase.size())
{
rtabmap::DBReader camera(inputDatabase, rate, true, sec);
rtabmap::DBReader camera(inputDatabase, rate, true);
if(camera.init())
{
odomThread.start();
if(sec > 0)
{
uSleep(sec*1000);
}
camera.start();
app.exec();