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detectMoreLoopClosures: fixed guess not set for lidar-only registration (https://github.com/introlab/rtabmap_ros/issues/727)

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matlabbe
2022-11-26 20:24:43 -08:00
parent 860c14e0ec
commit 83693ed1b9
1 changed files with 1 additions and 1 deletions
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corelib/src/Rtabmap.cpp
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@@ -5415,7 +5415,7 @@ int Rtabmap::detectMoreLoopClosures(
UASSERT(signatures.find(to) != signatures.end()); UASSERT(signatures.find(to) != signatures.end());
Transform guess; Transform guess;
if(_proximityOdomGuess && uContains(poses, from) && uContains(poses, to)) if(_proximityBySpace && uContains(poses, from) && uContains(poses, to))
{ {
guess = poses.at(from).inverse() * poses.at(to); guess = poses.at(from).inverse() * poses.at(to);
} }