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Deprecated Rtabmap::get3DMap(), use Rtabmap::getGraph() instead with setting to true the data flags. Rtabmap::getGraph() now ignores children nodes.

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matlabbe
2020-05-06 08:04:58 -04:00
parent 7d377d26df
commit 1af139134e
8 changed files with 52 additions and 82 deletions
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8
app/android/jni/RTABMapApp.cpp
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@@ -398,11 +398,15 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
std::multimap<int, rtabmap::Link> links;
LOGI("Loading full map from database...");
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading data from database..."));
rtabmap_->get3DMap(
signatures,
rtabmap_->getGraph(
poses,
links,
true,
true,
&signatures,
true,
true,
true,
true);
if(signatures.size() && poses.empty())