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Fix LocalBA intrinsics edges management #624

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merged 7 commits into from
Apr 19, 2019
Merged

Fix LocalBA intrinsics edges management #624

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5832c64
[sfm] fix invalid map iterator dereferencing
yann-lty Apr 1, 2019
844a260
[sfm] LocalBA: update internal intrinsic edge ids map after view removal
yann-lty Apr 3, 2019
ca951d8
[sfm] LocalBA: add sanity check assertions when erasing edges from graph
yann-lty Apr 3, 2019
d542a4a
[sfm] LocalBA: avoid connecting new views twice by intrinsic
yann-lty Apr 3, 2019
fa0e8d4
[sfm] LocalBA: add countNodes/countEdges methods
yann-lty Apr 3, 2019
605df1c
[sfm] LocalBA: fix constness
yann-lty Apr 18, 2019
8e0ce18
[sfm] LocalBA: wording and comments
yann-lty Apr 19, 2019
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6 changes: 3 additions & 3 deletions src/aliceVision/sfm/LocalBundleAdjustmentGraph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -140,9 +140,9 @@ bool LocalBundleAdjustmentGraph::removeViewsToTheGraph(const std::set<IndexT>& r
auto it = _nodePerViewId.find(viewId);
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if(it != _nodePerViewId.end())
{
_graph.erase(it->second); // this function erase a node with its incident arcs
_nodePerViewId.erase(it->first);
_viewIdPerNode.erase(it->second);
_graph.erase(it->second); // this function erase a node with its incident arcs
_viewIdPerNode.erase(it->second);
_nodePerViewId.erase(it->first);
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numRemovedNode++;
ALICEVISION_LOG_DEBUG("The view #" << viewId << " has been successfully removed to the distance graph.");
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