Fixed warning (cleanup of unused words before clearing the memory... saving time to dB )

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@677 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/src/Memory.cpp

@@ -813,15 +813,11 @@ void Memory::clear()
 {
 	ULOGGER_DEBUG("");
 
+	this->cleanUnusedWords();
+
 	if(_dbDriver)
 	{
-		int size = 0;
+		_dbDriver->addStatisticsAfterRunSurf(_vwd->getVisualWords().size());
-		if(_vwd)
-		{
-			size = _vwd->getVisualWords().size();
-		}
-
-		_dbDriver->addStatisticsAfterRunSurf(size);
 	}
 
 	if(_dbDriver)

corelib/src/VWDictionary.cpp

@@ -386,8 +386,11 @@ void VWDictionary::addWordRef(int wordId, int signatureId)
 		if(!vw)
 		{
 			vw = uValue(_unusedWords, wordId, vw);
-			_visualWords.insert(std::pair<int, VisualWord*>(vw->id(), vw));
+			if(vw)
-			_unusedWords.erase(vw->id());
+			{
+				_visualWords.insert(std::pair<int, VisualWord*>(vw->id(), vw));
+				_unusedWords.erase(vw->id());
+			}
 		}
 		if(vw)
 		{