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fixed sensor data not loaded on 0.10.0 database version

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Mathieu Labbe
2015-06-06 19:20:38 -04:00
parent bd9fb1027b
commit 7d72aa83bc
4 changed files with 37 additions and 10 deletions
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corelib/src/Rtabmap.cpp
+7 -3
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@@ -2180,6 +2180,7 @@ bool Rtabmap::process(
//==============================================================
// Finalize statistics and log files
//==============================================================
int localGraphSize = 0;
if(_publishStats)
{
statistics_.addStatistic(Statistics::kTimingStatistics_creation(), timeStatsCreation*1000);
@@ -2240,6 +2241,7 @@ bool Rtabmap::process(
statistics_.setConstraints(constraints);
statistics_.setSignatures(signatures);
statistics_.addStatistic(Statistics::kMemoryLocal_graph_size(), poses.size());
localGraphSize = poses.size();
}
//Start trashing
@@ -2271,7 +2273,7 @@ bool Rtabmap::process(
timeEmptyingTrash,
timeRetrievalDbAccess,
timeAddLoopClosureLink);
std::string logI = uFormat("%d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d\n",
std::string logI = uFormat("%d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d\n",
_loopClosureHypothesis.first,
_highestHypothesis.first,
(int)signaturesRemoved.size(),
@@ -2286,9 +2288,11 @@ bool Rtabmap::process(
lcHypothesisReactivated,
refUniqueWordsCount,
retrievalId,
0.0f,
0,
rehearsalMaxId,
rehearsalMaxId>0?1:0);
rehearsalMaxId>0?1:0,
localGraphSize,
data.id());
if(_statisticLogsBufferedInRAM)
{
_bufferedLogsF.push_back(logF);