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Intermediate nodes are now filtered if RGBD/LinearUpdate is set.

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matlabbe
2019-12-20 17:07:31 -05:00
parent 7d1a97696b
commit 356094fac4
1 changed files with 3 additions and 3 deletions
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6
corelib/src/Rtabmap.cpp
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@@ -1167,7 +1167,7 @@ bool Rtabmap::process(
{ {
_optimizedPoses.erase(rehearsedId); _optimizedPoses.erase(rehearsedId);
} }
else if(signature->getWeight() >= 0) else
{ {
if(_rgbdLinearUpdate > 0.0f || _rgbdAngularUpdate > 0.0f) if(_rgbdLinearUpdate > 0.0f || _rgbdAngularUpdate > 0.0f)
{ {
@@ -1177,10 +1177,10 @@ bool Rtabmap::process(
const std::multimap<int, Link> & links = signature->getLinks(); const std::multimap<int, Link> & links = signature->getLinks();
if(links.size() && links.begin()->second.type() == Link::kNeighbor) if(links.size() && links.begin()->second.type() == Link::kNeighbor)
{ {
// don't do this if there are intermediate nodes
const Signature * s = _memory->getSignature(links.begin()->second.to()); const Signature * s = _memory->getSignature(links.begin()->second.to());
UASSERT(s!=0); UASSERT(s!=0);
if(s->getWeight() >= 0) // don't filter if the new node is not intermediate but previous one is
if(signature->getWeight() < 0 || s->getWeight() >= 0)
{ {
float x,y,z, roll,pitch,yaw; float x,y,z, roll,pitch,yaw;
links.begin()->second.transform().getTranslationAndEulerAngles(x,y,z, roll,pitch,yaw); links.begin()->second.transform().getTranslationAndEulerAngles(x,y,z, roll,pitch,yaw);