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Added missing signature info in republished data

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matlabbe
2022-10-30 13:59:08 -07:00
parent d70924a3a4
commit 86f66cc8b8
2 changed files with 20 additions and 9 deletions
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2
corelib/src/Rtabmap.cpp
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@@ -4250,7 +4250,7 @@ bool Rtabmap::process(
std::stringstream stream;
for(std::multimap<int, int>::iterator iter=missingIds.begin(); iter!=missingIds.end() && loaded<(int)_maxRepublished; ++iter)
{
statistics_.addSignatureData(_memory->getNodeData(iter->second, true, true, true, true));
statistics_.addSignatureData(getSignatureCopy(iter->second, true, true, true, true, true, true));
_nodesToRepublish.erase(iter->second);
++loaded;
stream << iter->second << " ";