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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/src/RegistrationVis.cpp
+1 -1
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@@ -1881,7 +1881,7 @@ Transform RegistrationVis::computeTransformationImpl(
}
else if(toSignature.sensorData().isValid())
{
UWARN("Missing correspondences for registration (%d->%d). fromWords = %d fromImageEmpty=%d toWords = %d toImageEmpty=%d",
msg = uFormat("Missing correspondences for registration (%d->%d). fromWords = %d fromImageEmpty=%d toWords = %d toImageEmpty=%d",
fromSignature.id(), toSignature.id(),
(int)fromSignature.getWords().size(), fromSignature.sensorData().imageRaw().empty()?1:0,
(int)toSignature.getWords().size(), toSignature.sensorData().imageRaw().empty()?1:0);