i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

fixed a not retrieved signatures bug

Browse Source
This commit is contained in:
Mathieu Labbe
2015-01-27 16:57:07 -05:00
parent 47045002a9
commit 2cc34cbe7e
1 changed files with 1 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
corelib/src/Memory.cpp
View File

@@ -812,18 +812,6 @@ std::map<int, int> Memory::getNeighborsId(int signatureId,
{
curentMarginList = std::list<int>(nextMargin.begin(), nextMargin.end());
nextMargin.clear();
// first pass: count number of node in current margin in database
for(std::list<int>::iterator jter = curentMarginList.begin(); jter!=curentMarginList.end();++jter)
{
if(!uContains(ids, *jter))
{
const Signature * s = this->getSignature(*jter);
if(!s)
{
++nbLoadedFromDb;
}
}
}
for(std::list<int>::iterator jter = curentMarginList.begin(); jter!=curentMarginList.end(); ++jter)
{
@@ -842,6 +830,7 @@ std::map<int, int> Memory::getNeighborsId(int signatureId,
}
else if(maxCheckedInDatabase == -1 || (maxCheckedInDatabase > 0 && _dbDriver && nbLoadedFromDb < maxCheckedInDatabase))
{
++nbLoadedFromDb;
ids.insert(std::pair<int, int>(*jter, m));
UTimer timer;
@@ -872,12 +861,6 @@ std::map<int, int> Memory::getNeighborsId(int signatureId,
{
if(currentMargin.insert(iter->first).second)
{
const Signature * s = this->getSignature(iter->first);
if(!s)
{
// update db count because it's on current margin
++nbLoadedFromDb;
}
curentMarginList.push_back(iter->first);
}
}