rtabmap: fixed export poses in format 10 and 11 (#883)

Author: matlabbe

corelib/src/Graph.cpp

@@ -56,7 +56,7 @@ bool exportPoses(
 		int format, // 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame, 11=10+ID), 2=KITTI, 3=TORO, 4=g2o
 		const std::map<int, Transform> & poses,
 		const std::multimap<int, Link> & constraints, // required for formats 3 and 4
-		const std::map<int, double> & stamps, // required for format 1
+		const std::map<int, double> & stamps, // required for format 1, 10 and 11
 		const ParametersMap & parameters) // optional for formats 3 and 4
 {
 	UDEBUG("%s", filePath.c_str());

corelib/src/Rtabmap.cpp

@@ -1021,7 +1021,7 @@ void Rtabmap::exportPoses(const std::string & path, bool optimized, bool global,
 		}
 
 		std::map<int, double> stamps;
-		if(format == 1)
+		if(format == 1 || format == 10 || format == 11)
 		{
 			for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
 			{