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Fixed saving/loading dictionary (not loaded words)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@676 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-12-12 16:40:18 +00:00
parent aab425e583
commit bb2fbc67e0
6 changed files with 207 additions and 73 deletions
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corelib/src/VWDictionary.cpp
+27 -8
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@@ -379,13 +379,25 @@ int VWDictionary::getNextId()
void VWDictionary::addWordRef(int wordId, int signatureId)
{
VisualWord * vw = 0;
vw = uValue(_visualWords, wordId, vw);
if(vw)
if(signatureId > 0 && wordId > 0)
{
vw->addRef(signatureId);
_totalActiveReferences += 1;
_unusedWords.erase(vw->id());
VisualWord * vw = 0;
vw = uValue(_visualWords, wordId, vw);
if(!vw)
{
vw = uValue(_unusedWords, wordId, vw);
_visualWords.insert(std::pair<int, VisualWord*>(vw->id(), vw));
_unusedWords.erase(vw->id());
}
if(vw)
{
vw->addRef(signatureId);
_totalActiveReferences += 1;
}
else
{
UERROR("Not found word %d", wordId);
}
}
}
@@ -813,8 +825,15 @@ void VWDictionary::addWord(VisualWord * vw)
{
if(vw)
{
_visualWords.insert(std::pair<int, VisualWord *>(vw->id(), vw));
_totalActiveReferences += uSum(uValues(vw->getReferences()));
if(vw->getReferences().size())
{
_visualWords.insert(std::pair<int, VisualWord *>(vw->id(), vw));
_totalActiveReferences += uSum(uValues(vw->getReferences()));
}
else
{
_unusedWords.insert(std::pair<int, VisualWord *>(vw->id(), vw));
}
}
}