Exclude null factors from remaining factors when building elimination tree

2013-08-06 18:21:54 +00:00 · 2013-08-06 18:21:54 +00:00 · b823354e44
parent 22aaf47e3d
commit b823354e44
1 changed files with 2 additions and 2 deletions
--- a/gtsam/inference/EliminationTree-inst.h
+++ b/gtsam/inference/EliminationTree-inst.h
@ -149,9 +149,9 @@ namespace gtsam {
      if(parents[j] == none)
        roots_.push_back(nodes[j]);

-    // Gather remaining factors
+    // Gather remaining factors (exclude null factors)
    for(size_t i = 0; i < m; ++i)
-      if(!factorUsed[i])
+      if(!factorUsed[i] && graph[i])
        remainingFactors_.push_back(graph[i]);
  }