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fixed https://github.com/introlab/rtabmap_ros/issues/274

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This commit is contained in:
matlabbe
2018-09-18 12:30:01 -04:00
parent eedc68c360
commit 84a8e5830e
1 changed files with 9 additions and 6 deletions
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15
corelib/src/Memory.cpp
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@@ -837,16 +837,19 @@ void Memory::addSignatureToStm(Signature * signature, const cv::Mat & covariance
*_stMem.rbegin(), signature->id(),
_signatures.at(*_stMem.rbegin())->mapId(), signature->mapId());
//Tag the first node of the map
std::string tag = uFormat("map%d", signature->mapId());
if(getSignatureIdByLabel(tag, false) == 0)
if(_mapLabelsAdded && isIncremental())
{
UINFO("Tagging node %d with label \"%s\"", signature->id(), tag.c_str());
signature->setLabel(tag);
//Tag the first node of the map
std::string tag = uFormat("map%d", signature->mapId());
if(getSignatureIdByLabel(tag, false) == 0)
{
UINFO("Tagging node %d with label \"%s\"", signature->id(), tag.c_str());
signature->setLabel(tag);
}
}
}
}
else if(_mapLabelsAdded)
else if(_mapLabelsAdded && isIncremental())
{
//Tag the first node of the map
std::string tag = uFormat("map%d", signature->mapId());