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https://github.com/introlab/rtabmap.git
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Fixed android build
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@@ -373,7 +373,7 @@ unsigned long VWDictionary::getMemoryUsed() const
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memoryUsage += _dataTree.total()*_dataTree.elemSize();
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if(!_visualWords.empty())
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{
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memoryUsage += _visualWords.size()*(sizeof(int) + _visualWords.rbegin()->second->getMemoryUsed() + sizeof(std::_Rb_tree_node_base)) + sizeof(std::map<int, VisualWord *>);
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memoryUsage += _visualWords.size()*(sizeof(int) + _visualWords.rbegin()->second->getMemoryUsed() + sizeof(std::map<int, VisualWord *>::iterator)) + sizeof(std::map<int, VisualWord *>);
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if(_dataTree.empty() &&
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_visualWords.begin()->second->getDescriptor().type() == CV_8U &&
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_strategy == kNNFlannKdTree)
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@@ -385,12 +385,12 @@ unsigned long VWDictionary::getMemoryUsed() const
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if(!_unusedWords.empty())
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{
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// they are the same words than in _visualWords, so just add the pointer size
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memoryUsage += _unusedWords.size()*(sizeof(int) + sizeof(VisualWord *)+sizeof(std::_Rb_tree_node_base)) + sizeof(std::map<int, VisualWord *>);
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memoryUsage += _unusedWords.size()*(sizeof(int) + sizeof(VisualWord *)+sizeof(std::map<int, VisualWord *>::iterator)) + sizeof(std::map<int, VisualWord *>);
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}
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memoryUsage += _mapIndexId.size() * (sizeof(int)*2+sizeof(std::_Rb_tree_node_base)) + sizeof(std::map<int ,int>);
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memoryUsage += _mapIdIndex.size() * (sizeof(int)*2+sizeof(std::_Rb_tree_node_base)) + sizeof(std::map<int ,int>);
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memoryUsage += _notIndexedWords.size() * (sizeof(int)+sizeof(std::_Rb_tree_node_base)) + sizeof(std::set<int>);
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memoryUsage += _removedIndexedWords.size() * (sizeof(int)+sizeof(std::_Rb_tree_node_base)) + sizeof(std::set<int>);
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memoryUsage += _mapIndexId.size() * (sizeof(int)*2+sizeof(std::map<int ,int>::iterator)) + sizeof(std::map<int ,int>);
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memoryUsage += _mapIdIndex.size() * (sizeof(int)*2+sizeof(std::map<int ,int>::iterator)) + sizeof(std::map<int ,int>);
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memoryUsage += _notIndexedWords.size() * (sizeof(int)+sizeof(std::set<int>::iterator)) + sizeof(std::set<int>);
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memoryUsage += _removedIndexedWords.size() * (sizeof(int)+sizeof(std::set<int>::iterator)) + sizeof(std::set<int>);
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return memoryUsage;
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}
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