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Added rejected tag when sim=0

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@296 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2011-07-20 00:18:42 +00:00
parent bcbd35d368
commit 9fe16dd504
1 changed files with 3 additions and 3 deletions
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6
corelib/src/Rtabmap.cpp
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@@ -833,8 +833,7 @@ void Rtabmap::process()
if(hypotheses.size())
{
// Loop closure Threshold
if(likelihood.at(hypotheses.front().first) > 0.0f &&
hypotheses.front().second >= _loopThr)
if(hypotheses.front().second >= _loopThr)
{
//============================================================
// Hypothesis verification for loop closure with geometric
@@ -843,7 +842,8 @@ void Rtabmap::process()
//============================================================
if(hypotheses.front().second >= _loopRatio*_highestHypothesisValue &&
_highestHypothesisValue &&
_vhStrategy->verify(signature, _memory->getSignature(hypotheses.front().first)))
_vhStrategy->verify(signature, _memory->getSignature(hypotheses.front().first)) &&
likelihood.at(hypotheses.front().first) > 0.0f)
{
_lcHypothesisId = hypotheses.front().first;
}