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fixed reset UPlot on rehearsal after small movement detected. GUI: modified color for pose correction (DarkCyan) and small movement (Gray)

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matlabbe
2015-09-14 11:31:26 -04:00
parent af32830969
commit 53fa85e38a
5 changed files with 12 additions and 4 deletions
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corelib/src/Rtabmap.cpp
+3 -1
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@@ -2222,7 +2222,7 @@ bool Rtabmap::process(
if(_loopClosureHypothesis.first || _publishStats)
{
ULOGGER_INFO("sending stats...");
statistics_.setRefImageId(signature->id());
statistics_.setRefImageId(_memory->getLastSignatureId()); // Use last id from Memory (in case of rehearsal)
if(_loopClosureHypothesis.first != Memory::kIdInvalid)
{
statistics_.setLoopClosureId(_loopClosureHypothesis.first);
@@ -2284,6 +2284,8 @@ bool Rtabmap::process(
//Epipolar geometry constraint
statistics_.addStatistic(Statistics::kLoopRejectedHypothesis(), rejectedHypothesis?1.0f:0);
statistics_.addStatistic(Statistics::kMemorySmall_movement(), smallDisplacement?1.0f:0);
if(_publishLikelihood || _publishPdf)
{
// Child count by parent signature on the root of the memory ... for statistics