Fixed bug in not cleaning the points cache array of removed points.

Ecstasy-EC · Ecstasy-EC · commit c244f810c603 · 2021-12-23T23:11:23.000+08:00
diff --git a/src/laserMapping.cpp b/src/laserMapping.cpp
@@ -221,7 +221,7 @@ void points_cache_collect()
 {
     PointVector points_history;
     ikdtree.acquire_removed_points(points_history);
-    for (int i = 0; i < points_history.size(); i++) _featsArray->push_back(points_history[i]);
+    // for (int i = 0; i < points_history.size(); i++) _featsArray->push_back(points_history[i]);
 }
 
 BoxPointType LocalMap_Points;

Original file line number	Diff line number	Diff line change
`@@ -221,7 +221,7 @@ void points_cache_collect()`
`221`	`221`	`{`
`222`	`222`	`PointVector points_history;`
`223`	`223`	`ikdtree.acquire_removed_points(points_history);`
`224`		`- for (int i = 0; i < points_history.size(); i++) _featsArray->push_back(points_history[i]);`
	`224`	`+ // for (int i = 0; i < points_history.size(); i++) _featsArray->push_back(points_history[i]);`
`225`	`225`	`}`
`226`	`226`
`227`	`227`	`BoxPointType LocalMap_Points;`