From ec8946dc2f8c5d1254f38c1c0b2fc56c6c533a6c Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Wed, 27 May 2015 19:50:48 -0400
Subject: [PATCH] Avoid filling node info stuff when getting the graph for
 optimization

---
 corelib/src/Rtabmap.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/corelib/src/Rtabmap.cpp b/corelib/src/Rtabmap.cpp
index 162d1e1f..d3acf44d 100644
--- a/corelib/src/Rtabmap.cpp
+++ b/corelib/src/Rtabmap.cpp
@@ -3012,7 +3012,7 @@ bool Rtabmap::computePath(int targetNode, bool global)
 	std::map<int, double> stamps;
 	std::map<int, std::string> labels;
 	std::map<int, std::vector<unsigned char> > userDatas;
-	this->getGraph(nodes, constraints, mapIds, stamps, labels, userDatas, true, global);
+	this->getGraph(nodes, constraints, mapIds, stamps, labels, userDatas, true, global, true);
 	UINFO("Time creating graph (global=%s) = %fs", global?"true":"false", timer.ticks());
 
 	if(computePath(targetNode, nodes, constraints))
@@ -3046,7 +3046,7 @@ bool Rtabmap::computePath(const Transform & targetPose, bool global)
 	std::map<int, double> stamps;
 	std::map<int, std::string> labels;
 	std::map<int, std::vector<unsigned char> > userDatas;
-	this->getGraph(nodes, constraints, mapIds, stamps, labels, userDatas, true, global);
+	this->getGraph(nodes, constraints, mapIds, stamps, labels, userDatas, true, global, true);
 	UINFO("Time creating graph (global=%s) = %fs", global?"true":"false", timer.ticks());
 
 	int nearestId = rtabmap::graph::findNearestNode(nodes, targetPose);