21 lines
341 B
Matlab
21 lines
341 B
Matlab
function [is_revisit, min_dist] = isRevisitGlobalLoc(query_pose, db_poses, thres)
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num_dbs = size(db_poses, 1);
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dists = zeros(1, num_dbs);
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for ii=1:num_dbs
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dist = norm(query_pose - db_poses(ii, :));
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dists(ii) = dist;
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end
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if ( min(dists) < thres )
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is_revisit = 1;
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else
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is_revisit = 0;
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end
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min_dist = min(dists);
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end
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