From 510e9cab89875779073a62ab708bc46dbbdd64c6 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Thu, 20 Feb 2014 20:46:12 +0000 Subject: [PATCH] Removed optimizeCurrentMap() on rtabmap initialization when not in RGBD mode git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1136 f169173b-cf89-36c8-b27e-44dbe73f0c83 --- corelib/src/Rtabmap.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/corelib/src/Rtabmap.cpp b/corelib/src/Rtabmap.cpp index 9b417040..3c8f6e9b 100644 --- a/corelib/src/Rtabmap.cpp +++ b/corelib/src/Rtabmap.cpp @@ -362,7 +362,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters) _memory->init(getDatabasePath(), false, parameters); //generate map - if(_memory->getLastWorkingSignature()) + if(_rgbdSlamMode && _memory->getLastWorkingSignature()) { optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), false, _optimizedPoses, &_constraints); }