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Disabled local loop detection on intermediate nodes

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matlabbe
2015-11-09 11:46:30 -05:00
parent 798eb2330b
commit 0dedc62ce8
2 changed files with 7 additions and 2 deletions
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corelib/src/Memory.cpp
+5 -1
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@@ -2243,7 +2243,11 @@ Transform Memory::computeVisualTransform(
(newS.sensorData().cameraModels().size() != 1 || (newS.sensorData().cameraModels().size() != 1 ||
!newS.sensorData().cameraModels()[0].isValid())) !newS.sensorData().cameraModels()[0].isValid()))
{ {
UERROR("Calibrated camera required (multi-cameras not supported)."); UERROR("Calibrated camera required (multi-cameras not supported). Id=%d Models=%d StereoModel=%d weight=%d",
newS.id(),
(int)newS.sensorData().cameraModels().size(),
newS.sensorData().stereoCameraModel().isValid()?1:0,
newS.getWeight());
} }
else else
{ {
corelib/src/Rtabmap.cpp
+2 -1
View File
@@ -1833,7 +1833,8 @@ bool Rtabmap::process(
int localSpacePaths = 0; int localSpacePaths = 0;
if(_localLoopClosureDetectionSpace && if(_localLoopClosureDetectionSpace &&
_localRadius > 0 && _localRadius > 0 &&
_rgbdSlamMode) _rgbdSlamMode &&
signature->getWeight() >= 0) // not an intermediate node
{ {
if(_graphOptimizer->iterations() == 0) if(_graphOptimizer->iterations() == 0)
{ {