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Optimizer::getConnectedGraph() fixed poses created by propagating links (more robust to multi-session)

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matlabbe
2019-04-17 15:30:47 -04:00
parent aaefdae794
commit 23602935e1
1 changed files with 1 additions and 1 deletions
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2
corelib/src/Optimizer.cpp
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@@ -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<int, Link>::const_iterator pter=linksIn.find(toId); pter!=linksIn.end() && pter->first==toId; ++pter)
{