From 69d174309d910d033355a5a664c831a9499b5607 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Thu, 16 Mar 2017 11:47:04 -0400
Subject: [PATCH] Tango: fixed bundle adjustment poses not used for export

---
 app/android/jni/RTABMapApp.cpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/app/android/jni/RTABMapApp.cpp b/app/android/jni/RTABMapApp.cpp
index e0ec4811..91a08d56 100644
--- a/app/android/jni/RTABMapApp.cpp
+++ b/app/android/jni/RTABMapApp.cpp
@@ -1962,9 +1962,7 @@ bool RTABMapApp::exportMesh(
 
 	try
 	{
-		std::map<int, rtabmap::Transform> poses;
-		std::multimap<int, rtabmap::Link> links;
-		rtabmap_->getGraph(poses, links, true, true);
+		std::map<int, rtabmap::Transform> poses = rtabmap_->getLocalOptimizedPoses();
 
 		int totalSteps = 0;
 		totalSteps+=poses.size(); // assemble