From 9229c9887b837e0f6c870b4dc51230f0810633a5 Mon Sep 17 00:00:00 2001 From: Mathieu Labbe Date: Thu, 19 Mar 2015 16:13:06 -0400 Subject: [PATCH] Init rtabmap: don't optimize graph on init --- corelib/src/Rtabmap.cpp | 6 ------ 1 file changed, 6 deletions(-) diff --git a/corelib/src/Rtabmap.cpp b/corelib/src/Rtabmap.cpp index f3885a18..94ecd360 100644 --- a/corelib/src/Rtabmap.cpp +++ b/corelib/src/Rtabmap.cpp @@ -424,12 +424,6 @@ void Rtabmap::parseParameters(const ParametersMap & parameters) { _memory = new Memory(parameters); _memory->init(_databasePath, false, parameters, true); - - //generate map - if(_rgbdSlamMode && _memory->getLastWorkingSignature()) - { - optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), false, _optimizedPoses, &_constraints); - } } else {