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GUI: Added new Freenect2 and StereoDC1394 source options.

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This commit is contained in:
Mathieu Labbe
2015-04-06 00:28:04 -04:00
parent fee32c4e25
commit 04b35b2adf
22 changed files with 765 additions and 758 deletions
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corelib/src/Rtabmap.cpp
+14 -2
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@@ -867,10 +867,22 @@ bool Rtabmap::process(const SensorData & data)
// Memory Update : Location creation + Add to STM + Weight Update (Rehearsal)
//============================================================
ULOGGER_INFO("Updating memory...");
if(!_memory->update(data, &statistics_))
if(_rgbdSlamMode)
{
return false;
if(!_memory->update(data, &statistics_))
{
return false;
}
}
else
{
SensorData dataImageOnly(data.image(), data.id(), data.stamp(), data.userData());
if(!_memory->update(dataImageOnly, &statistics_))
{
return false;
}
}
signature = _memory->getLastWorkingSignature();
if(!signature)