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Localization mode: Fixed proximity detection permanently disabled when Rtabmap/StartNewMapOnLoopClosure is true

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matlabbe
2023-06-27 17:25:07 -07:00
parent a1168ba8a9
commit 97be9d4ace
2 changed files with 12 additions and 2 deletions
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2
corelib/src/Graph.cpp
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@@ -2250,7 +2250,7 @@ std::map<int, Transform> findNearestPoses(
{
foundPoses.insert(*poses.find(iter->first));
}
UDEBUG("found nodes=%d", (int)foundPoses.size());
UDEBUG("found nodes=%d/%d (radius=%f, angle=%f, k=%d)", (int)foundPoses.size(), (int)poses.size(), radius, angle, k);
return foundPoses;
}

12
corelib/src/Rtabmap.cpp
View File

@@ -2519,7 +2519,8 @@ bool Rtabmap::process(
{
if(_startNewMapOnLoopClosure &&
_memory->getWorkingMem().size()>=2 && // must have an old map (+1 virtual place)
graph::filterLinks(signature->getLinks(), Link::kSelfRefLink).size() == 0) // alone in new session)
_localizationCovariance.empty() && // if we didn't localize yet
graph::filterLinks(signature->getLinks(), Link::kSelfRefLink).size() == 0) // alone in new session
{
UINFO("Proximity detection by space disabled as if we force to have a global loop "
"closure with previous map before doing proximity detections (%s=true).",
@@ -2695,6 +2696,15 @@ bool Rtabmap::process(
}
}
}
else if(!signature->hasLink(nearestId) && proximityFilteringRadius>0.0f)
{
UDEBUG("Skipping path %d as most likely ID %d is too far %f > %f (%s)",
iter->first.id,
nearestId,
_optimizedPoses.at(signature->id()).getDistance(_optimizedPoses.at(nearestId)),
proximityFilteringRadius,
Parameters::kRGBDProximityPathFilteringRadius().c_str());
}
}
}