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matlabbe
2026-04-20 01:22:12 +00:00
parent 08e7d63678
commit f81536f508
1 changed files with 2 additions and 2 deletions
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rtabmap_slam/src/CoreWrapper.cpp
+2 -2
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@@ -2196,8 +2196,8 @@ void CoreWrapper::process(
if(rtabmap_.getMemory() == 0 || if(rtabmap_.getMemory() == 0 ||
filteredPoses.size() == 0 || filteredPoses.size() == 0 ||
rtabmap_.getMemory()->getLastSignatureId() != filteredPoses.rbegin()->first || rtabmap_.getMemory()->getLastSignatureId() != filteredPoses.rbegin()->first ||
rtabmap_.getMemory()->getLastWorkingSignature(true) == 0 || rtabmap_.getMemory()->getLastWorkingSignature(false) == 0 ||
rtabmap_.getMemory()->getLastWorkingSignature(true)->sensorData().gridCellSize() == 0 || rtabmap_.getMemory()->getLastWorkingSignature(false)->sensorData().gridCellSize() == 0 ||
(!mapsManager_.getLocalMapMaker()->isGridFromDepth() && data.laserScanRaw().is2d())) // 2d laser scan would fill empty space for latest data (!mapsManager_.getLocalMapMaker()->isGridFromDepth() && data.laserScanRaw().is2d())) // 2d laser scan would fill empty space for latest data
{ {
SensorData tmpData = data; SensorData tmpData = data;