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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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corelib/src/Memory.cpp
+6 -1
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@@ -239,8 +239,10 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
// Now load the dictionary if we have a connection // Now load the dictionary if we have a connection
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Loading dictionary...")); if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Loading dictionary..."));
UDEBUG("Loading dictionary...");
if(loadAllNodesInWM) if(loadAllNodesInWM)
{ {
UDEBUG("load all referenced words in working memory");
// load all referenced words in working memory // load all referenced words in working memory
std::set<int> wordIds; std::set<int> wordIds;
const std::map<int, Signature *> & signatures = this->getSignatures(); 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(); const std::multimap<int, cv::KeyPoint> & words = i->second->getWords();
std::list<int> keys = uUniqueKeys(words); 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) if(*iter > 0)
{ {
@@ -256,6 +258,8 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
} }
} }
} }
UDEBUG("load words %d", (int)wordIds.size());
if(wordIds.size()) if(wordIds.size())
{ {
std::list<VisualWord*> words; std::list<VisualWord*> words;
@@ -272,6 +276,7 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
} }
else else
{ {
UDEBUG("load words");
// load the last dictionary // load the last dictionary
_dbDriver->load(_vwd); _dbDriver->load(_vwd);
} }