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fixed colored loop closure detection rect when no images are in GUI cache. Modified some logged info.

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matlabbe
2015-05-27 19:02:27 -04:00
parent d273ce1094
commit ece3915b10
6 changed files with 44 additions and 25 deletions
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corelib/src/RtabmapThread.cpp
+3 -3
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@@ -141,7 +141,7 @@ void RtabmapThread::publishMap(bool optimized, bool full) const
userDatas));
}
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;
@@ -257,10 +257,10 @@ 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();