Added Debug log in incremental FLANN stuff (to track a crashing bug)

corelib/src/rtflann/algorithms/kdtree_index.h

@@ -252,12 +252,13 @@ protected:
      */
     void buildIndexImpl()
     {
+    	UDEBUG("");
         // Create a permutable array of indices to the input vectors.
     	std::vector<int> ind(size_);
         for (size_t i = 0; i < size_; ++i) {
             ind[i] = int(i);
         }
-
+        UDEBUG("");
         mean_ = new DistanceType[veclen_];
         var_ = new DistanceType[veclen_];
 
@@ -268,8 +269,10 @@ protected:
             std::random_shuffle(ind.begin(), ind.end());
             tree_roots_[i] = divideTree(&ind[0], int(size_) );
         }
+        UDEBUG("");
         delete[] mean_;
         delete[] var_;
+        UDEBUG("");
     }
 
     void freeIndex()

corelib/src/rtflann/algorithms/nn_index.h

@@ -39,6 +39,7 @@
 #include "rtflann/util/result_set.h"
 #include "rtflann/util/dynamic_bitset.h"
 #include "rtflann/util/saving.h"
+#include "rtabmap/utilite/ULogger.h"
 
 namespace rtflann
 {
@@ -124,12 +125,15 @@ public:
 	 */
 	virtual void buildIndex()
 	{
+		UDEBUG("");
     	freeIndex();
+    	UDEBUG("");
     	cleanRemovedPoints();
+    	UDEBUG("");
 
     	// building index
 		buildIndexImpl();
-
+		UDEBUG("");
         size_at_build_ = size_;
 
 	}