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rtabmap::triggerNewMap(): reverting commit d9716590b1 to clear optimized poses so that occupancy grid is cleared when triggering a new map. MapCorrection is kept not cleared to support Tango switching mapping<->localization mode without jumping.

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matlabbe
2018-04-30 20:03:01 -04:00
parent 52aed1041c
commit d92debe356
1 changed files with 3 additions and 0 deletions
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3
corelib/src/Rtabmap.cpp
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@@ -688,6 +688,9 @@ int Rtabmap::triggerNewMap()
std::map<int, int> reducedIds;
mapId = _memory->incrementMapId(&reducedIds);
UINFO("New map triggered, new map = %d", mapId);
_optimizedPoses.clear();
_constraints.clear();
_lastLocalizationNodeId = 0;
if(_bayesFilter)
{