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0.19.6: Added auto brightness/contrast and texture format options to multiband approach. rtabmap-export moved from examples to tools directory.

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matlabbe
2019-11-03 14:10:02 -05:00
parent 5d789f75a9
commit 179f17d267
17 changed files with 337 additions and 190 deletions
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corelib/src/Rtabmap.cpp
+16 -8
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@@ -4468,15 +4468,12 @@ int Rtabmap::detectMoreLoopClosures(
std::map<int, int> mapIds;
UDEBUG("remove all invalid or intermediate nodes, fill mapIds");
for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end();++iter)
for(std::map<int, Transform>::iterator iter=poses.upper_bound(0); iter!=poses.end();++iter)
{
if(iter->first > 0)
if(signatures.at(iter->first).getWeight() >= 0)
{
if(signatures.at(iter->first).getWeight() >= 0)
{
posesToCheckLoopClosures.insert(*iter);
mapIds.insert(std::make_pair(iter->first, signatures.at(iter->first).mapId()));
}
posesToCheckLoopClosures.insert(*iter);
mapIds.insert(std::make_pair(iter->first, signatures.at(iter->first).mapId()));
}
}
@@ -4517,7 +4514,18 @@ int Rtabmap::detectMoreLoopClosures(
(intraSession && mapIdFrom == mapIdTo))
{
if(rtabmap::graph::findLink(checkedLoopClosures, from, to) == checkedLoopClosures.end())
bool alreadyChecked = false;
for(std::multimap<int, int>::iterator jter = checkedLoopClosures.lower_bound(from);
!alreadyChecked && jter!=checkedLoopClosures.end() && jter->first == from;
++jter)
{
if(to == jter->second)
{
alreadyChecked = true;
}
}
if(!alreadyChecked)
{
// only add new links and one per cluster per iteration
if(addedLinks.find(from) == addedLinks.end() &&