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Disabled local loop detection on intermediate nodes

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matlabbe
2015-11-09 11:46:30 -05:00
parent 798eb2330b
commit 0dedc62ce8
2 changed files with 7 additions and 2 deletions
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corelib/src/Rtabmap.cpp
+2 -1
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@@ -1833,7 +1833,8 @@ bool Rtabmap::process(
int localSpacePaths = 0;
if(_localLoopClosureDetectionSpace &&
_localRadius > 0 &&
_rgbdSlamMode)
_rgbdSlamMode &&
signature->getWeight() >= 0) // not an intermediate node
{
if(_graphOptimizer->iterations() == 0)
{