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Remove landmark links when a node is deleted (and removed from the graph) #441

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matlabbe
2019-09-01 13:17:44 -04:00
parent 380fffb1d9
commit e968fd3ef4
2 changed files with 2 additions and 0 deletions
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1
corelib/include/rtabmap/core/Signature.h
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@@ -92,6 +92,7 @@ public:
void addLandmark(const Link & landmark) {_landmarks.insert(std::make_pair(landmark.to(), landmark));} void addLandmark(const Link & landmark) {_landmarks.insert(std::make_pair(landmark.to(), landmark));}
const std::map<int, Link> & getLandmarks() const {return _landmarks;} const std::map<int, Link> & getLandmarks() const {return _landmarks;}
void removeLandmarks() {_landmarks.clear();}
void setSaved(bool saved) {_saved = saved;} void setSaved(bool saved) {_saved = saved;}
void setModified(bool modified) {_modified = modified; _linksModified = modified;} void setModified(bool modified) {_modified = modified; _linksModified = modified;}

1
corelib/src/Memory.cpp
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@@ -2343,6 +2343,7 @@ void Memory::moveToTrash(Signature * s, bool keepLinkedToGraph, std::list<int> *
} }
s->removeLinks(); // remove all links s->removeLinks(); // remove all links
s->removeLandmarks(); // remove all landmarks
s->setWeight(0); s->setWeight(0);
s->setLabel(""); // reset label s->setLabel(""); // reset label
} }