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fixed colored loop closure detection rect when no images are in GUI cache. Modified some logged info.

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matlabbe
2015-05-27 19:02:27 -04:00
parent d273ce1094
commit ece3915b10
6 changed files with 44 additions and 25 deletions
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3
corelib/include/rtabmap/core/Rtabmap.h
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@@ -128,7 +128,8 @@ public:
std::map<int, std::string> & labels,
std::map<int, std::vector<unsigned char> > & userDatas,
bool optimized,
bool global);
bool global,
bool posesConstraintsOnly = false);
void clearPath();
bool computePath(int targetNode, bool global);
bool computePath(const Transform & targetPose, bool global);

2
corelib/include/rtabmap/core/RtabmapThread.h
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@@ -95,7 +95,7 @@ private:
void pushNewState(State newState, const ParametersMap & parameters = ParametersMap());
void setDataBufferSize(int size);
void publishMap(bool optimized, bool full) const;
void publishTOROGraph(bool optimized, bool full) const;
void publishGraph(bool optimized, bool full) const;
private:
UMutex _stateMutex;