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matlabbe
2017-01-26 16:46:24 -05:00
parent 66ee792e8c
commit 3a73414972
27 changed files with 4441 additions and 2029 deletions
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corelib/src/Rtabmap.cpp
+17 -4
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@@ -1344,13 +1344,26 @@ bool Rtabmap::process(
if(_highestHypothesis.first > 0)
{
float loopThr = _loopThr;
if((_startNewMapOnLoopClosure || !_memory->isIncremental()) &&
signature->getLinks().size() == 0 && // alone in the current map
_memory->getWorkingMem().size()>1 && // should have an old map (beside virtual signature)
(int)_memory->getWorkingMem().size()<=_memory->getMaxStMemSize() &&
_rgbdSlamMode)
{
// If the map is very small (under STM size) and we need to find
// a loop closure before continuing the map or localizing,
// use the best hypothesis directly.
loopThr = 0.0f;
}
// Loop closure Threshold
// When _loopThr=0, accept loop closure if the hypothesis is over
// the virtual (new) place hypothesis.
if(_highestHypothesis.second >= _loopThr)
if(_highestHypothesis.second >= loopThr)
{
rejectedHypothesis = true;
if(posterior.size() <= 2)
if(posterior.size() <= 2 && loopThr>0.0f)
{
// Ignore loop closure if there is only one loop closure hypothesis
UDEBUG("rejected hypothesis: single hypothesis");
@@ -1380,7 +1393,7 @@ bool Rtabmap::process(
else if(_highestHypothesis.second < _loopRatio*lastHighestHypothesis.second)
{
// Used for Precision-Recall computation.
// When analysing logs, it's convenient to know
// When analyzing logs, it's convenient to know
// if the hypothesis would be rejected if T_loop would be lower.
rejectedHypothesis = true;
UWARN("rejected hypothesis: under loop ratio %f < %f", _highestHypothesis.second, _loopRatio*lastHighestHypothesis.second);
@@ -2410,7 +2423,7 @@ bool Rtabmap::process(
if(_startNewMapOnLoopClosure &&
_memory->isIncremental() && // only in mapping mode
signature->getLinks().size() == 0 && // alone in the current map
_memory->getWorkingMem().size()>1) // The working memory should not be empty
_memory->getWorkingMem().size()>=2) // The working memory should not be empty (beside virtual signature)
{
UWARN("Ignoring location %d because a global loop closure is required before starting a new map!",
signature->id());