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Tango: fixed bundle adjustment poses not used for export

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matlabbe
2017-03-16 11:47:04 -04:00
parent 5b08a69607
commit 69d174309d
1 changed files with 1 additions and 3 deletions
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4
app/android/jni/RTABMapApp.cpp
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@@ -1962,9 +1962,7 @@ bool RTABMapApp::exportMesh(
try
{
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;
rtabmap_->getGraph(poses, links, true, true);
std::map<int, rtabmap::Transform> poses = rtabmap_->getLocalOptimizedPoses();
int totalSteps = 0;
totalSteps+=poses.size(); // assemble