i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed rejected 180deg loop closure with multi-camera setup

Browse Source
This commit is contained in:
matlabbe
2020-02-19 14:35:37 -05:00
parent ab9f05fb0f
commit bd979cca34
1 changed files with 3 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
corelib/src/Memory.cpp
View File

@@ -2957,7 +2957,9 @@ Transform Memory::computeTransform(
transform = _registrationPipeline->computeTransformationMod(tmpFrom, tmpTo, guess, info); transform = _registrationPipeline->computeTransformationMod(tmpFrom, tmpTo, guess, info);
} }
if(!transform.isNull()) if(!transform.isNull() &&
fromS.sensorData().cameraModels().size()<=1 &&
toS.sensorData().cameraModels().size()<=1)
{ {
UDEBUG(""); UDEBUG("");
// verify if it is a 180 degree transform, well verify > 90 // verify if it is a 180 degree transform, well verify > 90