Fixed RtabmapThread not transfering input features on intermediate nodes

2026-10-06 01:57:45 +08:00 · 2026-05-13 23:36:44 -07:00
parent 53fda23580
commit 24a5346fd6
1 changed files with 0 additions and 1 deletions
@@ -556,7 +556,6 @@ void RtabmapThread::addData(const OdometryEvent & odomEvent)
 			// set negative id so rtabmap will detect it as an intermediate node
 			SensorData tmp = odomEvent.data();
 			tmp.setId(-1);
-			tmp.setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());// remove features
 			_dataBuffer.push_back(OdometryEvent(tmp, odomEvent.pose(), odomInfo));
 		}
 		else