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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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This commit is contained in:
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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9
corelib/src/DBReader.cpp
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@@ -185,8 +185,6 @@ void DBReader::mainLoop()
if(goalId > 0)
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGoal, "", goalId));
if(!_ignoreGoalDelay && _currentId != _ids.end())
{
// get stamp for the next signature to compute the delay
@@ -203,12 +201,19 @@ void DBReader::mainLoop()
double delay = stamp - previousStamp;
UWARN("Goal %d detected, posting it! Waiting %f seconds before sending next data...",
goalId, delay);
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGoal, "", goalId));
uSleep(delay*1000);
}
else
{
UWARN("Goal %d detected, posting it!", goalId);
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGoal, "", goalId));
}
}
else
{
UWARN("Goal %d detected, posting it!", goalId);
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGoal, "", goalId));
}
}