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MainWindow: minor fixes

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matlabbe
2015-07-19 14:26:10 -04:00
parent d312652cc4
commit ce2cce9f4b
1 changed files with 4 additions and 3 deletions
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guilib/src/MainWindow.cpp
+4 -3
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@@ -1010,9 +1010,11 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{ {
refMapId = stat.getSignatures().at(stat.refImageId()).mapId(); refMapId = stat.getSignatures().at(stat.refImageId()).mapId();
} }
if(_cachedSignatures.contains(stat.loopClosureId())) int highestHypothesisId = static_cast<float>(uValue(stat.data(), Statistics::kLoopHighest_hypothesis_id(), 0.0f));
int loopId = stat.loopClosureId()>0?stat.loopClosureId():stat.localLoopClosureId()>0?stat.localLoopClosureId():highestHypothesisId;
if(_cachedSignatures.contains(loopId))
{ {
loopMapId = _cachedSignatures.value(stat.loopClosureId()).mapId(); loopMapId = _cachedSignatures.value(loopId).mapId();
} }
_ui->label_refId->setText(QString("New ID = %1 [%2]").arg(stat.refImageId()).arg(refMapId)); _ui->label_refId->setText(QString("New ID = %1 [%2]").arg(stat.refImageId()).arg(refMapId));
@@ -1026,7 +1028,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
} }
UDEBUG(""); UDEBUG("");
int highestHypothesisId = static_cast<float>(uValue(stat.data(), Statistics::kLoopHighest_hypothesis_id(), 0.0f));
bool highestHypothesisIsSaved = (bool)uValue(stat.data(), Statistics::kLoopHypothesis_reactivated(), 0.0f); bool highestHypothesisIsSaved = (bool)uValue(stat.data(), Statistics::kLoopHypothesis_reactivated(), 0.0f);
// update cache // update cache