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Don't update odom cache (localization mode) when not moving (detecting loop/landmark or not)

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matlabbe
2026-05-15 14:34:55 -07:00
parent 632d8504c9
commit 81c08570cd
1 changed files with 1 additions and 2 deletions
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corelib/src/Rtabmap.cpp
+1 -2
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@@ -4504,8 +4504,7 @@ bool Rtabmap::process(
(smallDisplacement || tooFastMovement) &&
_loopClosureHypothesis.first == 0 &&
lastProximitySpaceClosureId == 0 &&
!delayedLocalization &&
(rejectedLoopClosure || landmarksDetected.empty()))
!delayedLocalization)
{
_odomCachePoses.erase(signatureRemoved);
for(std::multimap<int, Link>::iterator iter=_odomCacheConstraints.begin(); iter!=_odomCacheConstraints.end();)