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fixed a crash error on last commit

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Mathieu Labbe
2015-03-16 18:36:45 -04:00
parent b1827aeb89
commit 63f438876c
1 changed files with 8 additions and 6 deletions
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14
corelib/src/Rtabmap.cpp
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@@ -1765,6 +1765,12 @@ bool Rtabmap::process(const SensorData & data)
ULOGGER_INFO("Time creating stats = %f...", timeStatsCreation); ULOGGER_INFO("Time creating stats = %f...", timeStatsCreation);
} }
//By default, remove all signatures with a loop closure link if they are not in reactivateIds
//This will also remove rehearsed signatures
std::list<int> signaturesRemoved = _memory->cleanup();
timeMemoryCleanup = timer.ticks();
ULOGGER_INFO("timeMemoryCleanup = %fs... %d signatures removed", timeMemoryCleanup, (int)signaturesRemoved.size());
// If this option activated, add new nodes only if there are linked with a previous map. // If this option activated, add new nodes only if there are linked with a previous map.
// Used when rtabmap is first started, it will wait a // Used when rtabmap is first started, it will wait a
// global loop closure detection before starting the new map, // global loop closure detection before starting the new map,
@@ -1776,6 +1782,7 @@ bool Rtabmap::process(const SensorData & data)
{ {
UWARN("Ignoring location %d because a global loop closure is required before starting a new map!", UWARN("Ignoring location %d because a global loop closure is required before starting a new map!",
signature->id()); signature->id());
signaturesRemoved.push_back(signature->id());
_memory->deleteLocation(signature->id()); _memory->deleteLocation(signature->id());
} }
else if(smallDisplacement) else if(smallDisplacement)
@@ -1783,18 +1790,13 @@ bool Rtabmap::process(const SensorData & data)
UWARN("Ignoring location %d because the displacement is too small! (d=%f a=%f)", UWARN("Ignoring location %d because the displacement is too small! (d=%f a=%f)",
signature->id(), _rgbdLinearUpdate, _rgbdAngularUpdate); signature->id(), _rgbdLinearUpdate, _rgbdAngularUpdate);
// If there is a too small displacement, remove the node // If there is a too small displacement, remove the node
signaturesRemoved.push_back(signature->id());
_memory->deleteLocation(signature->id()); _memory->deleteLocation(signature->id());
} }
// Pass this point signature should not be used, since it could have been transferred... // Pass this point signature should not be used, since it could have been transferred...
signature = 0; signature = 0;
//By default, remove all signatures with a loop closure link if they are not in reactivateIds
//This will also remove rehearsed signatures
std::list<int> signaturesRemoved = _memory->cleanup();
timeMemoryCleanup = timer.ticks();
ULOGGER_INFO("timeMemoryCleanup = %fs... %d signatures removed", timeMemoryCleanup, (int)signaturesRemoved.size());
//============================================================ //============================================================
// TRANSFER // TRANSFER
//============================================================ //============================================================