mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-01 17:10:26 +08:00
Memory::getNeighborId() load only neighbor links from db when loop links are not required
This commit is contained in:
@@ -990,7 +990,7 @@ std::map<int, int> Memory::getNeighborsId(int signatureId,
|
||||
ids.insert(std::pair<int, int>(*jter, m));
|
||||
|
||||
UTimer timer;
|
||||
_dbDriver->loadLinks(*jter, tmpLinks);
|
||||
_dbDriver->loadLinks(*jter, tmpLinks, ignoreLoopIds?Link::kNeighbor:Link::kUndef);
|
||||
if(dbAccessTime)
|
||||
{
|
||||
*dbAccessTime += timer.getElapsedTime();
|
||||
|
||||
Reference in New Issue
Block a user