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Added rejected tag when sim=0

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@296 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2011-07-20 00:18:42 +00:00
parent bcbd35d368
commit 9fe16dd504
1 changed files with 3 additions and 3 deletions
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corelib/src/Rtabmap.cpp
+3 -3
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@@ -833,8 +833,7 @@ void Rtabmap::process()
if(hypotheses.size()) if(hypotheses.size())
{ {
// Loop closure Threshold // Loop closure Threshold
if(likelihood.at(hypotheses.front().first) > 0.0f && if(hypotheses.front().second >= _loopThr)
hypotheses.front().second >= _loopThr)
{ {
//============================================================ //============================================================
// Hypothesis verification for loop closure with geometric // Hypothesis verification for loop closure with geometric
@@ -843,7 +842,8 @@ void Rtabmap::process()
//============================================================ //============================================================
if(hypotheses.front().second >= _loopRatio*_highestHypothesisValue && if(hypotheses.front().second >= _loopRatio*_highestHypothesisValue &&
_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; _lcHypothesisId = hypotheses.front().first;
} }