From 23602935e13554996f20c60e3238322830879712 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Wed, 17 Apr 2019 15:30:47 -0400 Subject: [PATCH] Optimizer::getConnectedGraph() fixed poses created by propagating links (more robust to multi-session) --- corelib/src/Optimizer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/corelib/src/Optimizer.cpp b/corelib/src/Optimizer.cpp index 49d9d316..6f1dc908 100644 --- a/corelib/src/Optimizer.cpp +++ b/corelib/src/Optimizer.cpp @@ -221,7 +221,7 @@ void Optimizer::getConnectedGraph( { if(!uContains(posesOut, toId)) { - posesOut.insert(*posesIn.find(toId));//std::make_pair(toId, posesOut.at(fromId) * (kter->second.from()==fromId?kter->second.transform():kter->second.transform().inverse()))); + posesOut.insert(std::make_pair(toId, posesOut.at(fromId) * (kter->second.from()==fromId?kter->second.transform():kter->second.transform().inverse()))); // add prior links for(std::multimap::const_iterator pter=linksIn.find(toId); pter!=linksIn.end() && pter->first==toId; ++pter) {