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Rtabmap/StartNewMapOnGoodSignature: start mapping if landmark is also detected. Rtabmap::detectMoreLoopClosures(): Fixed crash when landmarks are in optimized poses.

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matlabbe
2019-02-28 20:33:16 -05:00
parent 0ee4d6084b
commit c272f9538a
3 changed files with 11 additions and 16 deletions
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2
guilib/src/DatabaseViewer.cpp
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@@ -3283,7 +3283,7 @@ void DatabaseViewer::detectMoreLoopClosures()
{
UINFO("iteration %d/%d", n+1, iterations);
std::multimap<int, int> clusters = rtabmap::graph::radiusPosesClustering(
optimizedPoses,
std::map<int, Transform>(optimizedPoses.upper_bound(0), optimizedPoses.end()),
ui_->doubleSpinBox_detectMore_radius->value(),
ui_->doubleSpinBox_detectMore_angle->value()*CV_PI/180.0);

2
guilib/src/MainWindow.cpp
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@@ -5602,7 +5602,7 @@ void MainWindow::postProcessing()
.arg(n+1).arg(detectLoopClosureIterations).arg(clusterRadius).arg(clusterAngle));
std::multimap<int, int> clusters = graph::radiusPosesClustering(
_currentPosesMap,
std::map<int, Transform>(_currentPosesMap.upper_bound(0), _currentPosesMap.end()),
clusterRadius,
clusterAngle*CV_PI/180.0);