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reprocess: added double dash support for arguments for convenience. Rtabmap: fixed typo in localization verification by odom graph optimization.

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matlabbe
2019-04-29 17:11:29 -04:00
parent 125d532e95
commit 630b565cd4
2 changed files with 12 additions and 8 deletions
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corelib/src/Rtabmap.cpp
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@@ -2567,7 +2567,7 @@ bool Rtabmap::process(
std::map<int, Transform>::iterator iter = _optimizedPoses.find(_odomCacheConstraints.find(_odomCachePoses.begin()->first)->second.to());
Transform optPoseRefA;
Transform optPoseRefB;
if(iter != _optimizedPoses.end());
if(iter != _optimizedPoses.end())
{
optPoseRefA = iter->second * _odomCacheConstraints.find(_odomCachePoses.begin()->first)->second.transform().inverse();
}