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Fixed inf loop when all signatures are loaded in WM and if a signature has a -1 word

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This commit is contained in:
matlabbe
2017-04-04 12:26:06 -04:00
parent aa37ac6038
commit e415dd8504
1 changed files with 6 additions and 1 deletions
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7
corelib/src/Memory.cpp
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@@ -239,8 +239,10 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
// Now load the dictionary if we have a connection
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Loading dictionary..."));
UDEBUG("Loading dictionary...");
if(loadAllNodesInWM)
{
UDEBUG("load all referenced words in working memory");
// load all referenced words in working memory
std::set<int> wordIds;
const std::map<int, Signature *> & signatures = this->getSignatures();
@@ -248,7 +250,7 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
{
const std::multimap<int, cv::KeyPoint> & words = i->second->getWords();
std::list<int> keys = uUniqueKeys(words);
for(std::list<int>::iterator iter=keys.begin(); iter!=keys.end();)
for(std::list<int>::iterator iter=keys.begin(); iter!=keys.end(); ++iter)
{
if(*iter > 0)
{
@@ -256,6 +258,8 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
}
}
}
UDEBUG("load words %d", (int)wordIds.size());
if(wordIds.size())
{
std::list<VisualWord*> words;
@@ -272,6 +276,7 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
}
else
{
UDEBUG("load words");
// load the last dictionary
_dbDriver->load(_vwd);
}