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Merge branch 'master' of github.com:introlab/rtabmap

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This commit is contained in:
matlabbe
2015-09-11 22:00:11 -04:00
parent 1f05cf3299 567c6a8a51
commit 5cc17704d3
2 changed files with 7 additions and 1 deletions
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2
corelib/src/Memory.cpp
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@@ -990,7 +990,7 @@ std::map<int, int> Memory::getNeighborsId(int signatureId,
ids.insert(std::pair<int, int>(*jter, m));
UTimer timer;
_dbDriver->loadLinks(*jter, tmpLinks);
_dbDriver->loadLinks(*jter, tmpLinks, ignoreLoopIds?Link::kNeighbor:Link::kUndef);
if(dbAccessTime)
{
*dbAccessTime += timer.getElapsedTime();

6
corelib/src/VWDictionary.cpp
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@@ -249,6 +249,12 @@ public:
UERROR("Flann index not yet created!");
return;
}
// If a Segmentation fault occurs in removePoint(), verify that you have this fix in your installed "flann/algorithms/nn_index.h":
// 707 - if (ids_[id]==id) {
// 707 + if (id < ids_.size() && ids_[id]==id) {
// ref: https://github.com/mariusmuja/flann/commit/23051820b2314f07cf40ba633a4067782a982ff3#diff-33762b7383f957c2df17301639af5151
if(featuresType_ == CV_8UC1)
{
((flann::Index<flann::Hamming<unsigned char> >*)index_)->removePoint(index);