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Don't trigger new map in localization mode when identity odom is detected

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matlabbe
2015-12-01 12:34:34 -05:00
parent 4e9ba66555
commit 4d97ba80d6
1 changed files with 1 additions and 1 deletions
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corelib/src/Rtabmap.cpp
+1 -1
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@@ -904,7 +904,7 @@ bool Rtabmap::process(
"Image %d is ignored!", data.id()); "Image %d is ignored!", data.id());
return false; return false;
} }
else else if(_memory->isIncremental()) // only in mapping mode
{ {
// Detect if the odometry is reset. If yes, trigger a new map. // Detect if the odometry is reset. If yes, trigger a new map.
if(_memory->getLastWorkingSignature()) if(_memory->getLastWorkingSignature())