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Enabled binary visual words for dictionary (for loop closure detection).

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1677 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-09-09 21:54:32 +00:00
parent e687302ce0
commit c8593df7eb
10 changed files with 102 additions and 30 deletions
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corelib/src/Odometry.cpp
+2 -1
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@@ -605,9 +605,10 @@ void OdometryThread::mainLoop()
if(data.isValid())
{
int quality = -1;
UTimer time;
Transform pose = _odometry->process(data, &quality);
data.setPose(pose); // a null pose notify that odometry could not be computed
this->post(new OdometryEvent(data, quality));
this->post(new OdometryEvent(data, quality, time.elapsed()));
}
}