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just changed a variable name

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1458 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-07-06 19:11:49 +00:00
parent 87d1e4b52a
commit 0fa8b401c4
2 changed files with 5 additions and 5 deletions
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8
corelib/src/Rtabmap.cpp
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@@ -2228,18 +2228,18 @@ void Rtabmap::getGraph(
std::map<int, Transform> & poses,
std::multimap<int, Link> & constraints,
bool optimized,
bool full)
bool global)
{
if(_memory && _memory->getLastWorkingSignature())
{
if(optimized)
{
this->optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), full, poses, &constraints);
this->optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), global, poses, &constraints);
}
else
{
std::map<int, int> ids = _memory->getNeighborsId(_memory->getLastWorkingSignature()->id(), 0, full?-1:0, true);
_memory->getMetricConstraints(uKeys(ids), poses, constraints, full);
std::map<int, int> ids = _memory->getNeighborsId(_memory->getLastWorkingSignature()->id(), 0, global?-1:0, true);
_memory->getMetricConstraints(uKeys(ids), poses, constraints, global);
}
}
}