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Tango: fixed map not optimized when opening a database

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matlabbe
2016-11-25 16:05:14 -05:00
parent 22089a9e45
commit da1cac1e55
2 changed files with 2 additions and 2 deletions
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2
app/android/AndroidManifest.xml.in
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@@ -2,7 +2,7 @@
<!-- BEGIN_INCLUDE(manifest) --> <!-- BEGIN_INCLUDE(manifest) -->
<manifest xmlns:android="http://schemas.android.com/apk/res/android" <manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="com.introlab.rtabmap" package="com.introlab.rtabmap"
android:versionCode="25" android:versionCode="26"
android:versionName="@RTABMAP_VERSION@"> android:versionName="@RTABMAP_VERSION@">
<uses-permission android:name="android.permission.CAMERA" /> <uses-permission android:name="android.permission.CAMERA" />

2
app/android/jni/RTABMapApp.cpp
View File

@@ -700,7 +700,7 @@ int RTABMapApp::Render()
} }
std::map<int, rtabmap::Transform> poses; std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links; std::multimap<int, rtabmap::Link> links;
rtabmap_->getGraph(poses, links, false, true); rtabmap_->getGraph(poses, links, true, true);
if(gainCompensationOnNextRender_ == 2) if(gainCompensationOnNextRender_ == 2)
{ {
// full compensation // full compensation