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Reset bayes filter when new map is triggered

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matlabbe
2017-09-29 13:28:17 -04:00
parent 7e0c17c5aa
commit 9abd925ab7
1 changed files with 5 additions and 0 deletions
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5
corelib/src/Rtabmap.cpp
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@@ -651,6 +651,11 @@ int Rtabmap::triggerNewMap()
_mapCorrection.setIdentity(); _mapCorrection.setIdentity();
_mapCorrectionBackup.setNull(); _mapCorrectionBackup.setNull();
if(_bayesFilter)
{
_bayesFilter->reset();
}
//Verify if there are nodes that were merged through graph reduction //Verify if there are nodes that were merged through graph reduction
if(reducedIds.size() && _path.size()) if(reducedIds.size() && _path.size())
{ {