Disabled local loop detection on intermediate nodes

corelib/src/Memory.cpp

@@ -2243,7 +2243,11 @@ Transform Memory::computeVisualTransform(
 		   (newS.sensorData().cameraModels().size() != 1 ||
 			!newS.sensorData().cameraModels()[0].isValid()))
 		{
-			UERROR("Calibrated camera required (multi-cameras not supported).");
+			UERROR("Calibrated camera required (multi-cameras not supported). Id=%d Models=%d StereoModel=%d weight=%d",
+					newS.id(),
+					(int)newS.sensorData().cameraModels().size(),
+					newS.sensorData().stereoCameraModel().isValid()?1:0,
+					newS.getWeight());
 		}
 		else
 		{

corelib/src/Rtabmap.cpp

@@ -1833,7 +1833,8 @@ bool Rtabmap::process(
 	int localSpacePaths = 0;
 	if(_localLoopClosureDetectionSpace &&
 	   _localRadius > 0 &&
-	   _rgbdSlamMode)
+	   _rgbdSlamMode &&
+	   signature->getWeight() >= 0) // not an intermediate node
 	{
 		if(_graphOptimizer->iterations() == 0)
 		{