From 06fb556e78f7a2ad219d041670d999a7f0c3c49b Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Mon, 16 Apr 2012 13:54:09 +0000
Subject: [PATCH] Removed immunization of retrieved locations near in space
 (trunk, merged back changes from r478)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@482 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 corelib/src/Rtabmap.cpp | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/corelib/src/Rtabmap.cpp b/corelib/src/Rtabmap.cpp
index 3dbb3788..c0dfd8d8 100644
--- a/corelib/src/Rtabmap.cpp
+++ b/corelib/src/Rtabmap.cpp
@@ -951,12 +951,6 @@ void Rtabmap::process()
 						ULOGGER_INFO("ns=%d m=%d", iter->first, iter->second);
 						idsSorted.insert(iter->first);
 						reactivatedIdsSet.insert(iter->first);
-
-						if(m<neighborhoodSize)
-						{
-							//immunized locations in the neighborhood from being transferred
-							immunizedLocations.insert(iter->first);
-						}
 					}
 					std::map<int, int>::iterator tmp = iter++;
 					neighbors.erase(tmp);