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fixed null variance assert on local loop closures in Time/Space

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matlabbe
2015-09-09 22:31:02 -04:00
parent 7c85f11fbb
commit 91d87ec6a8
1 changed files with 3 additions and 3 deletions
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6
corelib/src/Rtabmap.cpp
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@@ -1079,7 +1079,7 @@ bool Rtabmap::process(
oldId,
signature->getLinks().at(oldId).transform().prettyPrint().c_str(),
t.prettyPrint().c_str());
_memory->updateLink(signature->id(), oldId, t, variance, variance);
_memory->updateLink(signature->id(), oldId, t, variance>0?variance:0.0001, variance>0?variance:0.0001);
if(_optimizeFromGraphEnd)
{
@@ -1180,7 +1180,7 @@ bool Rtabmap::process(
*iter,
transform.prettyPrint().c_str());
// Add a loop constraint
if(_memory->addLink(Link(signature->id(), *iter, Link::kLocalTimeClosure, transform, variance, variance)))
if(_memory->addLink(Link(signature->id(), *iter, Link::kLocalTimeClosure, transform, variance>0?variance:0.0001, variance>0?variance:0.0001)))
{
++localLoopClosuresInTimeFound;
UINFO("Local loop closure found between %d and %d with t=%s",
@@ -1952,7 +1952,7 @@ bool Rtabmap::process(
signature->id(),
nearestId,
transform.prettyPrint().c_str());
_memory->addLink(Link(signature->id(), nearestId, Link::kLocalSpaceClosure, transform, variance, variance));
_memory->addLink(Link(signature->id(), nearestId, Link::kLocalSpaceClosure, transform, variance>0?variance:0.0001, variance>0?variance:0.0001));
loopClosureLinksAdded.push_back(std::make_pair(signature->id(), nearestId));
if(_loopClosureHypothesis.first == 0)