i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-05 17:47:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

New parameter: Rtabmap/StartNewMapOnLoopClosure, when activated and creating a new map, the nodes of the new map will be ignored until a loop closure is found.

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1812 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-01 19:52:46 +00:00
parent 9559eee614
commit 317d382a24
6 changed files with 97 additions and 57 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Memory.cpp
+1 -2
View File
@@ -1262,7 +1262,7 @@ std::list<int> Memory::cleanup(const std::list<int> & ignoredIds)
std::list<int> signaturesRemoved;
// bad signature
if((_lastSignature->isBadSignature() && _badSignaturesIgnored) || !_incrementalMemory)
if(_lastSignature && ((_lastSignature->isBadSignature() && _badSignaturesIgnored) || !_incrementalMemory))
{
if(_lastSignature->isBadSignature())
{
@@ -2373,7 +2373,6 @@ bool Memory::rehearsalMerge(int oldId, int newId)
UDEBUG("Rehearsal merge %d and %d", oldS->id(), newS->id());
// During rehearsal in STM
if(_idUpdatedToNewOneRehearsal)
{
// update weight