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merged master to multicamera branch

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Mathieu Labbe
2015-05-29 14:54:49 -04:00
parent c6d0d47b1c ec8946dc2f
commit c5046df226
9 changed files with 53 additions and 59 deletions
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corelib/src/RtabmapThread.cpp
+3 -3
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@@ -134,7 +134,7 @@ void RtabmapThread::publishMap(bool optimized, bool full) const
constraints));
}
void RtabmapThread::publishTOROGraph(bool optimized, bool full) const
void RtabmapThread::publishGraph(bool optimized, bool full) const
{
std::map<int, Signature> signatures;
std::map<int, Transform> poses;
@@ -244,10 +244,10 @@ void RtabmapThread::mainLoop()
this->publishMap(atoi(parameters.at("optimized").c_str())!=0, true);
break;
case kStatePublishingTOROGraphLocal:
this->publishTOROGraph(atoi(parameters.at("optimized").c_str())!=0, false);
this->publishGraph(atoi(parameters.at("optimized").c_str())!=0, false);
break;
case kStatePublishingTOROGraphGlobal:
this->publishTOROGraph(atoi(parameters.at("optimized").c_str())!=0, true);
this->publishGraph(atoi(parameters.at("optimized").c_str())!=0, true);
break;
case kStateTriggeringMap:
_rtabmap->triggerNewMap();