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Rtabmap: Added deleteLastLocation() and rejectLastLoopClosure() methods

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matlabbe
2018-08-29 12:29:11 -04:00
parent 956f07785b
commit 30290c36d7
3 changed files with 102 additions and 11 deletions
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corelib/src/Memory.cpp
+1 -1
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@@ -2126,7 +2126,7 @@ void Memory::moveToTrash(Signature * s, bool keepLinkedToGraph, std::list<int> *
_lastGlobalLoopClosureId = 0;
}
if( (_notLinkedNodesKeptInDb || keepLinkedToGraph) &&
if( (_notLinkedNodesKeptInDb || keepLinkedToGraph || s->isSaved()) &&
_dbDriver &&
s->id()>0 &&
(_incrementalMemory || s->isSaved()))