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Fixed rejected 180deg loop closure with multi-camera setup

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matlabbe
2020-02-19 14:35:37 -05:00
parent ab9f05fb0f
commit bd979cca34
1 changed files with 3 additions and 1 deletions
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4
corelib/src/Memory.cpp
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@@ -2957,7 +2957,9 @@ Transform Memory::computeTransform(
transform = _registrationPipeline->computeTransformationMod(tmpFrom, tmpTo, guess, info);
}
if(!transform.isNull())
if(!transform.isNull() &&
fromS.sensorData().cameraModels().size()<=1 &&
toS.sensorData().cameraModels().size()<=1)
{
UDEBUG("");
// verify if it is a 180 degree transform, well verify > 90