i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Reset bayes filter when new map is triggered

Browse Source
This commit is contained in:
matlabbe
2017-09-29 13:28:17 -04:00
parent 7e0c17c5aa
commit 9abd925ab7
1 changed files with 5 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
corelib/src/Rtabmap.cpp
View File

@@ -651,6 +651,11 @@ int Rtabmap::triggerNewMap()
_mapCorrection.setIdentity();
_mapCorrectionBackup.setNull();
if(_bayesFilter)
{
_bayesFilter->reset();
}
//Verify if there are nodes that were merged through graph reduction
if(reducedIds.size() && _path.size())
{