i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-03 16:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Rtabmap::detectMoreLoopClosures(): use Memory::computeTransform() with signature parameters

Browse Source
This commit is contained in:
matlabbe
2016-04-03 21:49:12 -04:00
parent 5d9522c901
commit ff32f54aa8
1 changed files with 7 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Rtabmap.cpp
+7 -2
View File
@@ -3290,7 +3290,8 @@ int Rtabmap::detectMoreLoopClosures(float clusterRadius, float clusterAngle, int
std::map<int, Transform> poses; std::map<int, Transform> poses;
std::multimap<int, Link> links; std::multimap<int, Link> links;
this->getGraph(poses, links, true, true); std::map<int, Signature> signatures;
this->getGraph(poses, links, true, true, &signatures);
for(int n=0; n<iterations; ++n) for(int n=0; n<iterations; ++n)
{ {
@@ -3335,8 +3336,12 @@ int Rtabmap::detectMoreLoopClosures(float clusterRadius, float clusterAngle, int
{ {
checkedLoopClosures.insert(std::make_pair(from, to)); checkedLoopClosures.insert(std::make_pair(from, to));
UASSERT(signatures.find(from) != signatures.end());
UASSERT(signatures.find(to) != signatures.end());
RegistrationInfo info; RegistrationInfo info;
Transform t = _memory->computeTransform(from, to, Transform(), &info); // use signatures instead of IDs because some signatures may not be in WM
Transform t = _memory->computeTransform(signatures.at(from), signatures.at(to), Transform(), &info);
if(!t.isNull()) if(!t.isNull())
{ {