Fix curr_keyfrm in graph_optimizer

stella-cv · Feb 24, 2024 · 5bd1c14 · 5bd1c14
1 parent 641e079
commit 5bd1c14
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/stella_vslam/optimize/graph_optimizer.cc b/src/stella_vslam/optimize/graph_optimizer.cc
@@ -93,7 +93,7 @@ void graph_optimizer::optimize(const std::shared_ptr<data::keyframe>& loop_keyfr
         }
 
         // Fix the loop keyframe or root keyframe
-        if (*keyfrm == *loop_keyfrm || keyfrm->graph_node_->is_spanning_root()) {
+        if (*keyfrm == *loop_keyfrm || *keyfrm == *curr_keyfrm || keyfrm->graph_node_->is_spanning_root()) {
             keyfrm_vtx->setFixed(true);
         }