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Removed optimizeCurrentMap() on rtabmap initialization when not in RGBD mode

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1136 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-02-20 20:46:12 +00:00
parent 931cc740c7
commit 510e9cab89
1 changed files with 1 additions and 1 deletions
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corelib/src/Rtabmap.cpp
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@@ -362,7 +362,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
_memory->init(getDatabasePath(), false, parameters);
//generate map
if(_memory->getLastWorkingSignature())
if(_rgbdSlamMode && _memory->getLastWorkingSignature())
{
optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), false, _optimizedPoses, &_constraints);
}