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Init rtabmap: don't optimize graph on init

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Mathieu Labbe
2015-03-19 16:13:06 -04:00
parent 5ea1a0fe14
commit 9229c9887b
1 changed files with 0 additions and 6 deletions
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6
corelib/src/Rtabmap.cpp
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@@ -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
{