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Don't do neighbor refining if fast movement has been detected

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matlabbe
2022-02-20 18:09:39 -05:00
parent e297320dd5
commit e6a5fe9c26
1 changed files with 2 additions and 1 deletions
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corelib/src/Rtabmap.cpp
+2 -1
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@@ -1437,7 +1437,8 @@ bool Rtabmap::process(
signature->getLinks().size() && signature->getLinks().size() &&
signature->getLinks().begin()->second.type() == Link::kNeighbor && signature->getLinks().begin()->second.type() == Link::kNeighbor &&
_memory->isIncremental() && // ignore pose matching in localization mode _memory->isIncremental() && // ignore pose matching in localization mode
rehearsedId == 0) // don't do it if rehearsal happened rehearsedId == 0 && // don't do it if rehearsal happened
!tooFastMovement) // ignore if too fast movement has been detected
{ {
int oldId = signature->getLinks().begin()->first; int oldId = signature->getLinks().begin()->first;
const Signature * oldS = _memory->getSignature(oldId); const Signature * oldS = _memory->getSignature(oldId);