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rtabmap: added parameter to keep the old id or to update to new id when merging on rehearsal

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@758 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2013-01-27 04:50:49 +00:00
parent 635dd9c177
commit a4ccd6acd6
10 changed files with 156 additions and 111 deletions
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corelib/src/DBDriverSqlite3.cpp
+2 -1
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@@ -1106,6 +1106,7 @@ void DBDriverSqlite3::loadNeighborsQuery(int signatureId, std::set<int> & neighb
query << "SELECT to_id FROM Link "
<< "WHERE from_id = " << signatureId
<< " AND type = 0"
<< " ORDER BY to_id";
rc = sqlite3_prepare_v2(_ppDb, query.str().c_str(), -1, &ppStmt, 0);
@@ -1133,7 +1134,7 @@ void DBDriverSqlite3::loadNeighborsQuery(int signatureId, std::set<int> & neighb
if(neighbors.size() == 0)
{
UERROR("No neighbors loaded from signature %d", signatureId);
//UERROR("No neighbors loaded from signature %d", signatureId);
}
}
}