rtabmap: localization mode (run under fixed memory and fixed dictionary), optional retrieving of the last extracted words when calling rtabmap.process() (useful when in localization mode where the last location is deleted after the rtabmap process)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@882 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/src/DBDriverSqlite3.cpp

@@ -822,8 +822,19 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
 			}
 			else
 			{
-				ULOGGER_ERROR("Node %d not found in database", *iter);
-				rc = sqlite3_finalize(ppStmt);
+				UWARN("Creating a empty signature for node %d", *iter);
+				Signature * ss = new Signature(*iter, visualWords);
+				if(ss)
+				{
+					ss->setWeight(weight);
+					ss->setSaved(true);
+					nodes.push_back(ss);
+				}
+				else
+				{
+					UFATAL("?Cannot allocate memory !!!");
+				}
+				++loaded;
 			}
 
 			//reset