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

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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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5
corelib/src/Memory.cpp
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@@ -837,6 +837,8 @@ void Memory::addSignatureToStm(Signature * signature, const cv::Mat & covariance
*_stMem.rbegin(), signature->id(), *_stMem.rbegin(), signature->id(),
_signatures.at(*_stMem.rbegin())->mapId(), signature->mapId()); _signatures.at(*_stMem.rbegin())->mapId(), signature->mapId());
if(_mapLabelsAdded && isIncremental())
{
//Tag the first node of the map //Tag the first node of the map
std::string tag = uFormat("map%d", signature->mapId()); std::string tag = uFormat("map%d", signature->mapId());
if(getSignatureIdByLabel(tag, false) == 0) if(getSignatureIdByLabel(tag, false) == 0)
@@ -846,7 +848,8 @@ void Memory::addSignatureToStm(Signature * signature, const cv::Mat & covariance
} }
} }
} }
else if(_mapLabelsAdded) }
else if(_mapLabelsAdded && isIncremental())
{ {
//Tag the first node of the map //Tag the first node of the map
std::string tag = uFormat("map%d", signature->mapId()); std::string tag = uFormat("map%d", signature->mapId());