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Memory init: load all signatures in WM (instead of STM and WM)

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Mathieu Labbe
2015-03-05 16:53:00 -05:00
parent 3e91d35715
commit c221461d99
1 changed files with 6 additions and 8 deletions
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12
corelib/src/Memory.cpp
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@@ -199,16 +199,14 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
// ignore bad signatures // ignore bad signatures
if(!((*iter)->isBadSignature() && _badSignaturesIgnored)) if(!((*iter)->isBadSignature() && _badSignaturesIgnored))
{ {
// insert all in WM
// Note: it doesn't make sense to keep last STM images
// of the last session in the new STM because they can be
// only linked with the ones of the current session by
// global loop closures.
_signatures.insert(std::pair<int, Signature *>((*iter)->id(), *iter)); _signatures.insert(std::pair<int, Signature *>((*iter)->id(), *iter));
if(_maxStMemSize == 0 || (int)_stMem.size() <= _maxStMemSize)
{
_stMem.insert((*iter)->id());
}
else
{
_workingMem.insert((*iter)->id()); _workingMem.insert((*iter)->id());
} }
}
else else
{ {
delete *iter; delete *iter;