Fixed nodes weight not modified in db when deleted

corelib/include/rtabmap/core/Memory.h

@@ -280,7 +280,6 @@ private:
 	std::list<Signature *> getRemovableSignatures(int count,
 			const std::set<int> & ignoredIds = std::set<int>());
 	int getNextId();
-	void initCountId();
 	void rehearsal(Signature * signature, Statistics * stats = 0);
 	bool rehearsalMerge(int oldId, int newId);
 	bool canBeReduced(const Link & link, float maxDistance, int direction);

corelib/include/rtabmap/core/Signature.h

@@ -62,7 +62,7 @@ public:
 	virtual ~Signature();
 
 	/**
-	 * Must return a value between >=0 and <=1 (1 means 100% similarity).
+	 * Must return a value between >=0 and <=1 (1 means 100% similarity).
 	 */
 	float compareTo(const Signature & signature) const;
 	bool isBadSignature() const;
@@ -70,10 +70,10 @@ public:
 	int id() const {return _id;}
 	int mapId() const {return _mapId;}
 
-	void setWeight(int weight) {_modified=_weight!=weight;_weight = weight;}
+	void setWeight(int weight) {_modified=_modified || _weight!=weight;_weight = weight;}
 	int getWeight() const {return _weight;}
 
-	void setLabel(const std::string & label) {_modified=_label.compare(label)!=0;_label = label;}
+	void setLabel(const std::string & label) {_modified=_modified || _label.compare(label)!=0;_label = label;}
 	const std::string & getLabel() const {return _label;}
 
 	double getStamp() const {return _stamp;}

corelib/include/rtabmap/core/VWDictionary.h

@@ -139,7 +139,6 @@ private:
 	bool _incrementalFlann;
 	float _rebalancingFactor;
 	bool _byteToFloat;
-	bool _autoUpdate;
 	float _nndrRatio;
 	std::string _dictionaryPath; // a pre-computed dictionary (.txt or .db)
 	std::string _newDictionaryPath; // a pre-computed dictionary (.txt or .db)
@@ -151,6 +150,7 @@ private:
 	cv::Mat _dataTree;
 	bool _modified;
 	NNStrategy _strategy;
+	bool _autoUpdate;
 	std::map<int ,int> _mapIndexId;
 	std::map<int ,int> _mapIdIndex;
 	std::map<int, VisualWord*> _unusedWords; //<id,VisualWord*>, note that these words stay in _visualWords

corelib/src/Memory.cpp

@@ -443,11 +443,16 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
 		}
 		else
 		{
+			if(_dummyDictionary)
+			{
+				UWARN("A dummy dictionary is requested but %s is false, loading the dictionary as usual.", Parameters::kMemInitWMWithAllNodes().c_str());
+			}
 			UDEBUG("load words");
 			// load the last dictionary
 			_dbDriver->load(*_vwd, _vwd->isIncremental());
 		}
 		UDEBUG("%d words loaded!", _vwd->getUnusedWordsSize());
+		UDEBUG("Dictionary memory usage: %ld Bytes", _vwd->getMemoryUsed());
 		if(_vwd->isAutoUpdateEnabled())	{
 			_vwd->update();
 		}
@@ -3180,6 +3185,10 @@ void Memory::deleteLocation(int locationId, std::list<int> * deletedWords, bool
 		this->moveToTrash(location, keepLinkedInDb, deletedWords);
 		_memoryChanged = true;
 	}
+	else
+	{
+		UWARN("Location %d has not been found in STM/WM, cannot delete it.", locationId);
+	}
 }
 
 void Memory::saveLocationData(int locationId)

tools/ReduceGraph/main.cpp

@@ -321,6 +321,8 @@ int main(int argc, char * argv[])
 		memory.close(false);
 		return 0;
 	}
+	memory.emptyTrash();
+	memory.joinTrashThread();
 
 	if(isWholeGraphConnected || removeAllOrphanNodes)
 	{
@@ -354,6 +356,7 @@ int main(int argc, char * argv[])
 					totalBefore, ids.size(), posesOut.size());
 				// Not all graph is connected anymore while it was before reduction: 
 				// that means we created orphan nodes, remove them
+				int transferred = 0;
 				for(std::map<int, Transform>::iterator iter=poses.lower_bound(0); iter!=poses.end(); ++iter)
 				{
 					if(posesOut.find(iter->first) == posesOut.end())
@@ -366,8 +369,13 @@ int main(int argc, char * argv[])
 							printf("Removed %d from WM/LTM.\n", iter->first);
 						}
 						wm.erase(iter->first);
+						++transferred;
 					}
 				}
+				if(transferred>0) {
+					memory.emptyTrash();
+					memory.joinTrashThread();
+				}
 			}
 			else {
 				printf("[Warning] After graph reduction, the global graph is not all "
@@ -454,11 +462,15 @@ int main(int argc, char * argv[])
 	int transferred = 0;
 	for(auto id:ids)
 	{
-		if(wm.find(id) == wm.end()) {
+		if(wm.find(id) == wm.end() && memory.getWorkingMem().find(id) != memory.getWorkingMem().end()) {
 			memory.deleteLocation(id, 0, /*keepLinkedInDb*/ true);
 			++transferred;
 		}
 	}
+	if(transferred>0) {
+		memory.emptyTrash();
+		memory.joinTrashThread();
+	}
 	printf("Restoring Working Memory... done! Transferred %d nodes.\n", transferred);
 	
 	printf("Saving all changes to database...\n");