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Local space selection: compare maxDiff with margins to current node instead of ids

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Mathieu Labbe
2015-02-13 18:21:26 -05:00
parent 2f4acb9581
commit 24155cdb7c
3 changed files with 8 additions and 36 deletions
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2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -186,8 +186,6 @@ private:
std::pair<int, float> _loopClosureHypothesis;
std::pair<int, float> _highestHypothesis;
double _lastProcessTime;
int _lastLocalLoopClosureParentId;
int _lastLocalLoopClosureChildId;
// Abstract classes containing all loop closure
// strategies for a type of signature or configuration.

3
corelib/include/rtabmap/core/Statistics.h
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@@ -67,9 +67,6 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(LocalLoop, Space_closure_id,);
RTABMAP_STATS(LocalLoop, Space_nearest_id,);
RTABMAP_STATS(LocalLoop, Space_neighbors,);
RTABMAP_STATS(LocalLoop, Space_diff_id,);
RTABMAP_STATS(LocalLoop, Space_last_parent,);
RTABMAP_STATS(LocalLoop, Space_last_child,);
RTABMAP_STATS(Memory, Working_memory_size,);
RTABMAP_STATS(Memory, Short_time_memory_size,);