From 4242eb4ed5a2cc66234a37fdc0f035db978d4947 Mon Sep 17 00:00:00 2001 From: Michel Hidalgo Date: Thu, 30 Dec 2021 02:19:16 -0300 Subject: [PATCH] Marginalize nodes during lifelong mapping Signed-off-by: Michel Hidalgo --- src/experimental/slam_toolbox_lifelong.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/experimental/slam_toolbox_lifelong.cpp b/src/experimental/slam_toolbox_lifelong.cpp index a56dc59ca..d43550565 100644 --- a/src/experimental/slam_toolbox_lifelong.cpp +++ b/src/experimental/slam_toolbox_lifelong.cpp @@ -298,14 +298,12 @@ void LifelongSlamToolbox::removeFromSlamGraph( Vertex * vertex) /*****************************************************************************/ { - smapper_->getMapper()->RemoveNodeFromGraph(vertex); + smapper_->getMapper()->MarginalizeNodeFromGraph(vertex); smapper_->getMapper()->GetMapperSensorManager()->RemoveScan( vertex->GetObject()); dataset_->RemoveData(vertex->GetObject()); vertex->RemoveObject(); delete vertex; - vertex = nullptr; - // LTS what do we do about the contraints that node had about it?Nothing?Transfer? } /*****************************************************************************/