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Rtabmap::addLink() supporting localization mode. MainWindow: fixed flickering camera frustum.

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matlabbe
2020-05-21 21:26:29 -04:00
parent 69a2aacc8e
commit eb9999d7b1
4 changed files with 209 additions and 130 deletions
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corelib/include/rtabmap/core/Rtabmap.h
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@@ -313,6 +313,7 @@ private:
bool _currentSessionHasGPS;
std::map<int, Transform> _odomCachePoses; // used in localization mode to reject loop closures
std::multimap<int, Link> _odomCacheConstraints; // used in localization mode to reject loop closures
std::map<int, Transform> _odomCacheAddLink; // used in localization mode when adding external link
// Planning stuff
int _pathStatus;