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fixed issue 10

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1544 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-07-11 19:03:11 +00:00
parent e2c612dffd
commit 8da1d61a71
2 changed files with 5 additions and 3 deletions
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corelib/src/Rtabmap.cpp
-2
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@@ -1962,8 +1962,6 @@ void Rtabmap::optimizeCurrentMap(
if(!_optimizeFromGraphEnd && ids.size() > 1)
{
UTimer timer;
UDEBUG("Optimize from the first location (%d) instead of the last (%d) "
"in the local graph. Recomputing neighbors depth...");
int first = ids.begin()->first;
ids = _memory->getNeighborsId(first, 0, lookInDatabase?-1:0, true);