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The graph is also sent in appearance-only mode. Added posterior hypotheses color on the graph view. Some minor fixes.

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matlabbe
2015-01-07 17:30:20 -05:00
parent a979216fc1
commit 7f7d05e243
11 changed files with 309 additions and 198 deletions
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corelib/src/RtabmapThread.cpp
+4
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@@ -174,6 +174,10 @@ void RtabmapThread::mainLoop()
break;
case kStateInit:
UASSERT(!parameters.at("RtabmapThread/DatabasePath").empty());
Parameters::parse(parameters, Parameters::kRtabmapImageBufferSize(), _dataBufferMaxSize);
Parameters::parse(parameters, Parameters::kRtabmapDetectionRate(), _rate);
UASSERT(_dataBufferMaxSize >= 0);
UASSERT(_rate >= 0.0f);
_rtabmap->init(parameters, parameters.at("RtabmapThread/DatabasePath"));
break;
case kStateChangingParameters: