i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-06 10:07:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

CCCorelib: updated wrong output check. Updated RGBD/MaxOdomCacheSize approach to work properly with Rtabmap/CreateIntermediateNodes=true.

Browse Source
This commit is contained in:
matlabbe
2022-01-28 14:48:32 -05:00
parent 02140f92db
commit 315350dbfc
2 changed files with 3 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Rtabmap.cpp
+1 -1
View File
@@ -1579,7 +1579,7 @@ bool Rtabmap::process(
}
// Localization mode stuff
_lastLocalizationPose = newPose; // keep in cache the latest corrected pose
if(!_memory->isIncremental())
if(!_memory->isIncremental() && signature->getWeight() >= 0)
{
UDEBUG("Update odometry localization cache (size=%d/%d)", (int)_odomCachePoses.size(), _maxOdomCacheSize);
if(!_odomCachePoses.empty())