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Rtabmap: do localization if a landmark already in graph is detected

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matlabbe
2020-03-01 18:41:49 -05:00
parent cb80d85dd6
commit 3ea64fbfc3
1 changed files with 4 additions and 1 deletions
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5
corelib/src/Rtabmap.cpp
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@@ -2570,7 +2570,10 @@ bool Rtabmap::process(
landmarkDetected!=0 ||
signaturesRetrieved.size()) // can be different map of the current one
&&
(_memory->isIncremental() || graph::filterLinks(signature->getLinks(), Link::kSelfRefLink).size())) // In localization mode, the new node should be linked
(_memory->isIncremental() ||
// In localization mode, the new node should be linked to another node or a landmark already in the graph
graph::filterLinks(signature->getLinks(), Link::kSelfRefLink).size() ||
(landmarkDetected!=0 && _optimizedPoses.find(landmarkDetected)!=_optimizedPoses.end())))
{
UASSERT(uContains(_optimizedPoses, signature->id()));