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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@738 f169173b-cf89-36c8-b27e-44dbe73f0c83

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matlabbe
2013-01-15 17:13:07 +00:00
parent cc07dda43f
commit dc1b29f17b
1 changed files with 2 additions and 2 deletions
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4
corelib/src/Memory.cpp
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@@ -1637,14 +1637,14 @@ void Memory::rehearsal(Signature * signature, std::map<std::string, float> & sta
int id = 0; int id = 0;
int nbMerged = 0; int nbMerged = 0;
std::list<int> merged; std::list<int> merged;
float maxSim = -1.0f; float maxSim = 0.0f;
for(std::map<int, float>::iterator iter=similarities.begin(); iter!=similarities.end(); ++iter) for(std::map<int, float>::iterator iter=similarities.begin(); iter!=similarities.end(); ++iter)
{ {
float value = iter->second; float value = iter->second;
id = iter->first; id = iter->first;
if(value >= _similarityThreshold) if(value >= _similarityThreshold)
{ {
if(maxSim < 0.0f || maxSim<=value) if(maxSim<=value)
{ {
maxSim = value; maxSim = value;
} }