i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-05 09:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Don't delete intermediate nodes

Browse Source
This commit is contained in:
matlabbe
2026-05-09 12:29:11 -07:00
parent f0b2aee5f1
commit 5f63fc268f
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Rtabmap.cpp
+1 -1
View File
@@ -1533,7 +1533,7 @@ bool Rtabmap::process(
const Signature * s = _memory->getSignature(links.begin()->second.to());
UASSERT(s!=0);
// Check small motion if previous node is not an intermediate node (consecutive intermediate nodes are merged later)
if(s->getWeight() >= 0)
if(s->getWeight() >= 0 && signature->getWeight() >= 0)
{
t = links.begin()->second.transform();
}