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Reduced local bundle on loop closure iterations to 5. Updated graph::filterLinks() to handle selfRef link type. DbViewer: removed gravity constraints from constraints view.

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matlabbe
2019-06-01 21:43:13 -04:00
parent ec943198f0
commit 8cb923b332
4 changed files with 33 additions and 14 deletions
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corelib/src/Graph.cpp
+9 -2
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@@ -1117,7 +1117,7 @@ std::multimap<int, Link> filterDuplicateLinks(
std::multimap<int, Link> output;
for(std::multimap<int, Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
{
if(graph::findLink(output, iter->second.from(), iter->second.to(), true) == output.end())
if(graph::findLink(output, iter->second.from(), iter->second.to(), true, iter->second.type()) == output.end())
{
output.insert(*iter);
}
@@ -1132,7 +1132,14 @@ std::multimap<int, Link> filterLinks(
std::multimap<int, Link> output;
for(std::multimap<int, Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
{
if(iter->second.type() != filteredType)
if(filteredType == Link::kSelfRefLink)
{
if(iter->second.from() != iter->second.to())
{
output.insert(*iter);
}
}
else if(iter->second.type() != filteredType)
{
output.insert(*iter);
}