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Memory::computeTransform(): removed setting guess to identity if input guess is null

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matlabbe
2016-05-19 17:01:46 -04:00
parent a8be08a19a
commit ff7406a755
3 changed files with 28 additions and 36 deletions
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corelib/src/Rtabmap.cpp
+1 -1
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@@ -1017,7 +1017,7 @@ bool Rtabmap::process(
//============================================================
if(!signature->sensorData().laserScanCompressed().empty())
{
UINFO("Odometry refining");
UINFO("Odometry refining: guess = %s", guess.prettyPrint().c_str());
RegistrationInfo info;
Transform t = _memory->computeTransform(oldId, signature->id(), guess, &info);
if(!t.isNull())