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DbViewer: fixed graph not re-optimized after refining an added link. Rtabmap: RGBD/ProximityPathMaxNeighbors=1 means only nearest node on a path

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matlabbe
2019-07-23 15:21:32 -04:00
parent 3558640407
commit 62d8a892c6
2 changed files with 31 additions and 34 deletions
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7
corelib/src/Rtabmap.cpp
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@@ -2404,12 +2404,15 @@ bool Rtabmap::process(
std::map<int, Transform> filteredPath;
int i=0;
std::map<int, Transform>::iterator nearestIdIter = path.find(nearestId);
for(std::map<int, Transform>::iterator iter=nearestIdIter; iter!=path.end() && i<=_proximityMaxNeighbors; ++iter, ++i)
// "_proximityMaxNeighbors-1" means that if _proximityMaxNeighbors=1,
// only nearest node on the path is taken (no scan merging). Useful to find
// proximity detection between only 2 nodes with 360x360 lidar scans.
for(std::map<int, Transform>::iterator iter=nearestIdIter; iter!=path.end() && i<=_proximityMaxNeighbors-1; ++iter, ++i)
{
filteredPath.insert(*iter);
}
i=1;
for(std::map<int, Transform>::reverse_iterator iter(nearestIdIter); iter!=path.rend() && i<=_proximityMaxNeighbors; ++iter, ++i)
for(std::map<int, Transform>::reverse_iterator iter(nearestIdIter); iter!=path.rend() && i<=_proximityMaxNeighbors-1; ++iter, ++i)
{
filteredPath.insert(*iter);
}