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rtabmap: fixed graph not re-optimized (if empty) after first localization on landmark

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matlabbe
2020-03-10 13:08:47 -04:00
parent bfc64c451a
commit 39724e239c
1 changed files with 3 additions and 4 deletions
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corelib/src/Rtabmap.cpp
+3 -4
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@@ -2571,9 +2571,9 @@ bool Rtabmap::process(
signaturesRetrieved.size()) // can be different map of the current one signaturesRetrieved.size()) // can be different map of the current one
&& &&
(_memory->isIncremental() || (_memory->isIncremental() ||
// In localization mode, the new node should be linked to another node or a landmark already in the graph // In localization mode, the new node should be linked to another node or a landmark already in the working memory
graph::filterLinks(signature->getLinks(), Link::kSelfRefLink).size() || graph::filterLinks(signature->getLinks(), Link::kSelfRefLink).size() ||
(landmarkDetected!=0 && _optimizedPoses.find(landmarkDetected)!=_optimizedPoses.end()))) landmarkDetected!=0))
{ {
UASSERT(uContains(_optimizedPoses, signature->id())); UASSERT(uContains(_optimizedPoses, signature->id()));
@@ -2834,7 +2834,6 @@ bool Rtabmap::process(
} }
else else
{ {
UINFO("Update map correction"); UINFO("Update map correction");
std::map<int, Transform> poses = _optimizedPoses; std::map<int, Transform> poses = _optimizedPoses;