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Some fixes:

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-Memory: Fixed wrongly rejected scan matching transform because of too large correction
-DBViewer: Fixed not shown proximity scans
-DBDriver: Fixed not loaded links' user_data on getAllLinks() method
-MainWindow: Added planning statistics
-DBReader: set a maximum of 10 sec sleep if the map ID has changed
This commit is contained in:
matlabbe
2015-10-26 12:59:20 -04:00
parent 463a5d973c
commit 02ebb3c7e8
12 changed files with 161 additions and 54 deletions
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corelib/src/Rtabmap.cpp
+2 -2
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@@ -664,7 +664,6 @@ int Rtabmap::triggerNewMap()
_optimizedPoses.clear();
_constraints.clear();
_lastLocalizationNodeId = 0;
_distanceTravelled = 0.0f;
//Verify if there are nodes that were merged through graph reduction
if(reducedIds.size() && _path.size())
@@ -1099,7 +1098,8 @@ bool Rtabmap::process(
// Update Poses and Constraints
_optimizedPoses.insert(std::make_pair(signature->id(), newPose));
_lastLocalizationPose = newPose; // used in localization mode only (path planning)
if(signature->getLinks().size() == 1)
if(signature->getLinks().size() == 1 &&
signature->getLinks().begin()->second.type() == Link::kNeighbor)
{
// link should be old to new
UASSERT_MSG(signature->id() > signature->getLinks().begin()->second.to(),