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Don't delete intermediate nodes

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