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Fixed missing 3D keypoints when RGBD/LoopClosureReextractFeatures=true and Reg/Strategy=1 (https://github.com/introlab/rtabmap_ros/issues/668). DBViewer: fixed wrong poses optimization with GTSAM when showing scans of loop closures by proximity by space (multiscan) while there are GPS priors.

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This commit is contained in:
matlabbe
2021-12-05 17:38:53 -05:00
parent 12906f4490
commit 580e35afb1
6 changed files with 43 additions and 43 deletions
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corelib/src/Graph.cpp
+4 -3
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@@ -989,12 +989,13 @@ std::multimap<int, Link>::iterator findLink(
std::multimap<int, Link> & links,
int from,
int to,
bool checkBothWays)
bool checkBothWays,
Link::Type type)
{
std::multimap<int, Link>::iterator iter = links.find(from);
while(iter != links.end() && iter->first == from)
{
if(iter->second.to() == to)
if(iter->second.to() == to && (type==Link::kUndef || type == iter->second.type()))
{
return iter;
}
@@ -1007,7 +1008,7 @@ std::multimap<int, Link>::iterator findLink(
iter = links.find(to);
while(iter != links.end() && iter->first == to)
{
if(iter->second.to() == from)
if(iter->second.to() == from && (type==Link::kUndef || type == iter->second.type()))
{
return iter;
}