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Removed immunization of retrieved locations near in space (trunk, merged back changes from r478)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@482 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2012-04-16 13:54:09 +00:00
parent f7fecb1529
commit 06fb556e78
1 changed files with 0 additions and 6 deletions
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6
corelib/src/Rtabmap.cpp
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@@ -951,12 +951,6 @@ void Rtabmap::process()
ULOGGER_INFO("ns=%d m=%d", iter->first, iter->second); ULOGGER_INFO("ns=%d m=%d", iter->first, iter->second);
idsSorted.insert(iter->first); idsSorted.insert(iter->first);
reactivatedIdsSet.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++; std::map<int, int>::iterator tmp = iter++;
neighbors.erase(tmp); neighbors.erase(tmp);