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DbViewer: fixed new priors added 2 times

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matlabbe
2025-10-20 17:38:46 -07:00
parent 098db33547
commit b9d7e8077c
1 changed files with 6 additions and 2 deletions
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guilib/src/DatabaseViewer.cpp
+6 -2
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@@ -9346,14 +9346,18 @@ std::multimap<int, rtabmap::Link> DatabaseViewer::updateLinksWithModifications(
if(findIter!=linksRefined_.end())
{
links.insert(*findIter); // add the refined link
links.insert(std::make_pair(findIter->second.to(), findIter->second.inverse())); // return both ways
if(findIter->second.from() != findIter->second.to()) {
links.insert(std::make_pair(findIter->second.to(), findIter->second.inverse())); // return both ways
}
UDEBUG("Added refined link (%d->%d, %d)", findIter->second.from(), findIter->second.to(), findIter->second.type());
continue;
}
UDEBUG("Added link (%d->%d, %d)", iter->second.from(), iter->second.to(), iter->second.type());
links.insert(*iter);
links.insert(std::make_pair(iter->second.to(), iter->second.inverse())); // return both ways
if(iter->second.from() != iter->second.to()) {
links.insert(std::make_pair(iter->second.to(), iter->second.inverse())); // return both ways
}
}
return links;