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Rtabmap: don't reset mapCorrection transform when triggering a new map

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matlabbe
2018-04-05 11:28:07 -04:00
parent 2b00b2c1c5
commit d9716590b1
1 changed files with 0 additions and 5 deletions
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5
corelib/src/Rtabmap.cpp
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@@ -670,11 +670,6 @@ int Rtabmap::triggerNewMap()
std::map<int, int> reducedIds; std::map<int, int> reducedIds;
mapId = _memory->incrementMapId(&reducedIds); mapId = _memory->incrementMapId(&reducedIds);
UINFO("New map triggered, new map = %d", mapId); UINFO("New map triggered, new map = %d", mapId);
_optimizedPoses.clear();
_constraints.clear();
_lastLocalizationNodeId = 0;
_mapCorrection.setIdentity();
_mapCorrectionBackup.setNull();
if(_bayesFilter) if(_bayesFilter)
{ {