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matlabbe
2026-07-10 12:54:32 -07:00
parent 1947637549
commit 65c1ddc0cf
1 changed files with 4 additions and 4 deletions
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tools/ReduceGraph/main.cpp
+4 -4
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@@ -237,14 +237,14 @@ int main(int argc, char * argv[])
// Remove orphan nodes
std::map<int, double> wm = memory.getWorkingMem();
for(auto iter: wm)
for(std::map<int, double>::iterator iter=wm.lower_bound(0); iter!=wm.end(); ++iter)
{
std::multimap<int, rtabmap::Link> links = memory.getLinks(iter.first);
std::multimap<int, rtabmap::Link> links = memory.getLinks(iter->first);
if(graph::filterLinks(links, Link::kSelfRefLink).empty())
{
// orphan
memory.deleteLocation(iter.first, 0, keepLinked);
printf("Removed orphan node %d\n", iter.first);
memory.deleteLocation(iter->first, 0, keepLinked);
printf("Removed orphan node %d\n", iter->first);
}
}