From 9fe16dd504a40e4be0957c305a58073fd20e9423 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Wed, 20 Jul 2011 00:18:42 +0000
Subject: [PATCH] Added rejected tag when sim=0

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@296 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 corelib/src/Rtabmap.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/corelib/src/Rtabmap.cpp b/corelib/src/Rtabmap.cpp
index 190a4e80..74fe1d49 100644
--- a/corelib/src/Rtabmap.cpp
+++ b/corelib/src/Rtabmap.cpp
@@ -833,8 +833,7 @@ void Rtabmap::process()
 			if(hypotheses.size())
 			{
 				// Loop closure Threshold
-				if(likelihood.at(hypotheses.front().first) > 0.0f &&
-				   hypotheses.front().second >= _loopThr)
+				if(hypotheses.front().second >= _loopThr)
 				{
 					//============================================================
 					// Hypothesis verification for loop closure with geometric
@@ -843,7 +842,8 @@ void Rtabmap::process()
 					//============================================================
 					if(hypotheses.front().second >= _loopRatio*_highestHypothesisValue &&
 					   _highestHypothesisValue &&
-					   _vhStrategy->verify(signature, _memory->getSignature(hypotheses.front().first)))
+					   _vhStrategy->verify(signature, _memory->getSignature(hypotheses.front().first)) &&
+					   likelihood.at(hypotheses.front().first) > 0.0f)
 					{
 						_lcHypothesisId = hypotheses.front().first;
 					}