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Added DBDriver::setTimestampUpdateEnabled()

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Don't update timestamps if only links are modified
This commit is contained in:
Mathieu Labbe
2015-02-04 17:40:16 -05:00
parent 09625b766e
commit f8b625c7c7
10 changed files with 136 additions and 72 deletions
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9
guilib/src/DatabaseViewer.cpp
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@@ -244,11 +244,11 @@ void DatabaseViewer::closeEvent(QCloseEvent* event)
std::multimap<int, rtabmap::Link>::iterator refinedIter = rtabmap::findLink(linksRefined_, iter->second.from(), iter->second.to());
if(refinedIter != linksRefined_.end())
{
memory_->addLoopClosureLink(refinedIter->second.to(), refinedIter->second.from(), refinedIter->second.transform(), refinedIter->second.type(), refinedIter->second.variance());
memory_->addLink(refinedIter->second.to(), refinedIter->second.from(), refinedIter->second.transform(), refinedIter->second.type(), refinedIter->second.variance());
}
else
{
memory_->addLoopClosureLink(iter->second.to(), iter->second.from(), iter->second.transform(), iter->second.type(), iter->second.variance());
memory_->addLink(iter->second.to(), iter->second.from(), iter->second.transform(), iter->second.type(), iter->second.variance());
}
}
@@ -257,15 +257,14 @@ void DatabaseViewer::closeEvent(QCloseEvent* event)
{
if(!containsLink(linksAdded_, iter->second.from(), iter->second.to()))
{
memory_->rejectLoopClosure(iter->second.to(), iter->second.from());
memory_->addLoopClosureLink(iter->second.to(), iter->second.from(), iter->second.transform(), iter->second.type(), iter->second.variance());
memory_->updateLink(iter->second.from(), iter->second.to(), iter->second.transform(), iter->second.variance());
}
}
// Rejected links
for(std::multimap<int, rtabmap::Link>::iterator iter=linksRemoved_.begin(); iter!=linksRemoved_.end(); ++iter)
{
memory_->rejectLoopClosure(iter->second.to(), iter->second.from());
memory_->removeLink(iter->second.to(), iter->second.from());
}
}

2
guilib/src/MainWindow.cpp
View File

@@ -1418,6 +1418,8 @@ void MainWindow::updateMapCloud(
}
}
}
_ui->graphicsView_graphView->update();
if(!_preferencesDialog->getGridMapShown())
{
_ui->widget_cloudViewer->removeOccupancyGridMap();