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Rtabmap: updated logic of small displacement updates (RGBD/LinearUpdate=0 means always update)

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matlabbe
2018-12-13 13:30:50 -05:00
parent 73004c643c
commit 85f0ab829a
1 changed files with 3 additions and 5 deletions
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8
corelib/src/Rtabmap.cpp
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@@ -1137,11 +1137,9 @@ bool Rtabmap::process(
{ {
float x,y,z, roll,pitch,yaw; float x,y,z, roll,pitch,yaw;
links.begin()->second.transform().getTranslationAndEulerAngles(x,y,z, roll,pitch,yaw); links.begin()->second.transform().getTranslationAndEulerAngles(x,y,z, roll,pitch,yaw);
bool isMoving = (_rgbdLinearUpdate>0.0f && ( bool isMoving = fabs(x) > _rgbdLinearUpdate ||
fabs(x) > _rgbdLinearUpdate || fabs(y) > _rgbdLinearUpdate ||
fabs(y) > _rgbdLinearUpdate || fabs(z) > _rgbdLinearUpdate ||
fabs(z) > _rgbdLinearUpdate))
||
(_rgbdAngularUpdate>0.0f && ( (_rgbdAngularUpdate>0.0f && (
fabs(roll) > _rgbdAngularUpdate || fabs(roll) > _rgbdAngularUpdate ||
fabs(pitch) > _rgbdAngularUpdate || fabs(pitch) > _rgbdAngularUpdate ||