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

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matlabbe
2019-03-14 17:16:51 -04:00
parent 977f8eb262
commit a0a566140c
1 changed files with 1 additions and 1 deletions
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2
corelib/src/Rtabmap.cpp
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@@ -4655,7 +4655,7 @@ bool Rtabmap::computePath(const Transform & targetPose, float tolerance)
UTimer timer; UTimer timer;
std::map<int, Transform> nodes = _optimizedPoses; std::map<int, Transform> nodes = _optimizedPoses;
std::multimap<int, int> links; 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); const Signature * s = _memory->getSignature(iter->first);
UASSERT(s); UASSERT(s);