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Fixed FATAL error for link variance == 0 on loop closure of two identical images

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matlabbe
2015-09-08 23:18:12 -04:00
parent d425d84ce2
commit 5dcbb66a6d
1 changed files with 1 additions and 1 deletions
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2
corelib/src/Rtabmap.cpp
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@@ -1790,7 +1790,7 @@ bool Rtabmap::process(
if(!rejectedHypothesis)
{
// Make the new one the parent of the old one
rejectedHypothesis = !_memory->addLink(Link(signature->id(), _loopClosureHypothesis.first, Link::kGlobalClosure, transform, variance, variance));
rejectedHypothesis = !_memory->addLink(Link(signature->id(), _loopClosureHypothesis.first, Link::kGlobalClosure, transform, variance>0?variance:0.0001, variance>0?variance:0.0001));
if(!rejectedHypothesis)
{
loopClosureLinksAdded.push_back(std::make_pair(signature->id(), _loopClosureHypothesis.first));