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Fixed RtabmapThread not transfering input features on intermediate nodes

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matlabbe
2026-05-13 23:36:44 -07:00
parent 53fda23580
commit 24a5346fd6
1 changed files with 0 additions and 1 deletions
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corelib/src/RtabmapThread.cpp
-1
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@@ -556,7 +556,6 @@ void RtabmapThread::addData(const OdometryEvent & odomEvent)
// set negative id so rtabmap will detect it as an intermediate node // set negative id so rtabmap will detect it as an intermediate node
SensorData tmp = odomEvent.data(); SensorData tmp = odomEvent.data();
tmp.setId(-1); 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)); _dataBuffer.push_back(OdometryEvent(tmp, odomEvent.pose(), odomInfo));
} }
else else