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Avoid filling node info stuff when getting the graph for optimization

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matlabbe
2015-05-27 19:50:48 -04:00
parent ece3915b10
commit ec8946dc2f
1 changed files with 2 additions and 2 deletions
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4
corelib/src/Rtabmap.cpp
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@@ -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);