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Intermediate node fixes for ProximityTime and detecting more loop closures in the GUI

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matlabbe
2016-02-18 12:52:15 -05:00
parent c1c62b0738
commit 6b8ab84ba0
2 changed files with 27 additions and 20 deletions
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7
corelib/src/Rtabmap.cpp
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@@ -1153,14 +1153,17 @@ bool Rtabmap::process(
if(_proximityByTime &&
rehearsedId == 0 && // don't do it if rehearsal happened
signature->getWords3().size() &&
_memory->isIncremental()) // don't do it in localization mode
_memory->isIncremental(), // don't do it in localization mode
!signature->isBadSignature() &&
signature->getWeight()>=0)
{
const std::set<int> & stm = _memory->getStMem();
for(std::set<int>::const_reverse_iterator iter = stm.rbegin(); iter!=stm.rend(); ++iter)
{
if(*iter != signature->id() &&
signature->getLinks().find(*iter) == signature->getLinks().end() &&
_memory->getSignature(*iter)->mapId() == signature->mapId())
_memory->getSignature(*iter)->mapId() == signature->mapId() &&
_memory->getSignature(*iter)->getWeight()>=0)
{
std::string rejectedMsg;
UDEBUG("Check local transform between %d and %d", signature->id(), *iter);