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Added not merged modifications

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@453 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2012-03-03 03:25:44 +00:00
parent a2eb8bcab6
commit f9b97fb638
5 changed files with 12 additions and 10 deletions
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4
corelib/ConsoleApp/main.cpp
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@@ -427,7 +427,7 @@ int main(int argc, char * argv[])
std::list<std::vector<float> > actions;
while(loopDataset <= repeat && g_forever)
{
SMState * smState = camera->takeImage();
SMState * smState = camera->takeSMState();
int i=0;
while(smState && g_forever)
{
@@ -456,7 +456,7 @@ int main(int argc, char * argv[])
{
++countLoopDetected;
}
smState = camera->takeImage();
smState = camera->takeSMState();
if(++count % 100 == 0)
{
printf(" count = %d, loop closures = %d\n", count, countLoopDetected);