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check if same node before adding virtual link

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Mathieu Labbe
2015-02-03 14:11:57 -05:00
parent ee885321aa
commit b2e5b7fbfc
1 changed files with 3 additions and 1 deletions
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4
corelib/src/Rtabmap.cpp
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@@ -1387,7 +1387,9 @@ bool Rtabmap::process(const SensorData & data)
} }
// Add a virtual loop closure link to keep the path linked to local map // Add a virtual loop closure link to keep the path linked to local map
if(_path.size() && !signature->hasLink(_path[_pathCurrentIndex])) if(_path.size() &&
signature->id() != _path[_pathCurrentIndex] &&
!signature->hasLink(_path[_pathCurrentIndex]))
{ {
Transform virtualLoop = _optimizedPoses.at(signature->id()).inverse() * _optimizedPoses.at(_path[_pathCurrentIndex]); Transform virtualLoop = _optimizedPoses.at(signature->id()).inverse() * _optimizedPoses.at(_path[_pathCurrentIndex]);
_memory->addLoopClosureLink(_path[_pathCurrentIndex], signature->id(), virtualLoop, Link::kVirtualClosure, 99999); _memory->addLoopClosureLink(_path[_pathCurrentIndex], signature->id(), virtualLoop, Link::kVirtualClosure, 99999);