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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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2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -108,7 +108,7 @@ public:
void getGraph(std::map<int, Transform> & poses, void getGraph(std::map<int, Transform> & poses,
std::multimap<int, Link> & constraints, std::multimap<int, Link> & constraints,
bool optimized, bool optimized,
bool full); bool global);
std::map<int, Transform> getOptimizedWMPosesInRadius(int fromId, int maxNearestNeighbors, float radius, int maxDiffID, int & nearestId) const; std::map<int, Transform> getOptimizedWMPosesInRadius(int fromId, int maxNearestNeighbors, float radius, int maxDiffID, int & nearestId) const;
void adjustLikelihood(std::map<int, float> & likelihood) const; void adjustLikelihood(std::map<int, float> & likelihood) const;

8
corelib/src/Rtabmap.cpp
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@@ -2228,18 +2228,18 @@ void Rtabmap::getGraph(
std::map<int, Transform> & poses, std::map<int, Transform> & poses,
std::multimap<int, Link> & constraints, std::multimap<int, Link> & constraints,
bool optimized, bool optimized,
bool full) bool global)
{ {
if(_memory && _memory->getLastWorkingSignature()) if(_memory && _memory->getLastWorkingSignature())
{ {
if(optimized) if(optimized)
{ {
this->optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), full, poses, &constraints); this->optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), global, poses, &constraints);
} }
else else
{ {
std::map<int, int> ids = _memory->getNeighborsId(_memory->getLastWorkingSignature()->id(), 0, full?-1:0, true); std::map<int, int> ids = _memory->getNeighborsId(_memory->getLastWorkingSignature()->id(), 0, global?-1:0, true);
_memory->getMetricConstraints(uKeys(ids), poses, constraints, full); _memory->getMetricConstraints(uKeys(ids), poses, constraints, global);
} }
} }
} }