i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

rtabmap::computePath(pose) fixed fatal error when landmarks are in the graph

Browse Source
This commit is contained in:
matlabbe
2019-03-14 17:16:51 -04:00
parent 977f8eb262
commit a0a566140c
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/src/Rtabmap.cpp
View File

@@ -4655,7 +4655,7 @@ bool Rtabmap::computePath(const Transform & targetPose, float tolerance)
UTimer timer;
std::map<int, Transform> nodes = _optimizedPoses;
std::multimap<int, int> links;
for(std::map<int, Transform>::iterator iter=nodes.begin(); iter!=nodes.end(); ++iter)
for(std::map<int, Transform>::iterator iter=nodes.upper_bound(0); iter!=nodes.end(); ++iter)
{
const Signature * s = _memory->getSignature(iter->first);
UASSERT(s);