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Added Memory::getAllLabels(), added labels to statistics and added DBDriver::getNodeInfo()

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This commit is contained in:
Mathieu Labbe
2015-03-06 16:14:09 -05:00
parent 64fc7a05ae
commit 0c55d30f76
13 changed files with 235 additions and 55 deletions
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corelib/src/Memory.cpp
+43 -23
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@@ -754,21 +754,6 @@ const VWDictionary * Memory::getVWDictionary() const
return _vwd;
}
void Memory::getPose(int locationId, Transform & pose, bool lookInDatabase) const
{
const Signature * s = getSignature(locationId);
int mapId = -1;
if(s)
{
pose = s->getPose();
mapId = s->mapId();
}
else if(lookInDatabase && _dbDriver)
{
_dbDriver->getPose(locationId, pose, mapId);
}
}
std::map<int, Link> Memory::getNeighborLinks(
int signatureId,
bool lookInDatabase) const
@@ -1690,6 +1675,23 @@ bool Memory::labelSignature(int id, const std::string & label)
return false;
}
std::map<int, std::string> Memory::getAllLabels() const
{
std::map<int, std::string> labels;
for(std::map<int, Signature*>::const_iterator iter = _signatures.begin(); iter!=_signatures.end(); ++iter)
{
if(!iter->second->getLabel().empty())
{
labels.insert(std::make_pair(iter->first, iter->second->getLabel()));
}
}
if(_dbDriver)
{
_dbDriver->getAllLabels(labels);
}
return labels;
}
void Memory::deleteLocation(int locationId, std::list<int> * deletedWords)
{
UDEBUG("Deleting location %d", locationId);
@@ -2692,20 +2694,39 @@ bool Memory::rehearsalMerge(int oldId, int newId)
return false;
}
int Memory::getMapId(int signatureId) const
Transform Memory::getOdomPose(int signatureId, bool lookInDatabase) const
{
Transform pose;
int mapId, weight;
std::string label;
double stamp;
getNodeInfo(signatureId, pose, mapId, weight, label, stamp, lookInDatabase);
return pose;
}
bool Memory::getNodeInfo(int signatureId,
Transform & odomPose,
int & mapId,
int & weight,
std::string & label,
double & stamp,
bool lookInDatabase) const
{
int mapId = 0;
const Signature * s = this->getSignature(signatureId);
if(s)
{
odomPose = s->getPose();
mapId = s->mapId();
weight = s->getWeight();
label = s->getLabel();
stamp = s->getStamp();
return true;
}
else if(_dbDriver)
else if(lookInDatabase && _dbDriver)
{
Transform pose;
_dbDriver->getPose(signatureId, pose, mapId);
return _dbDriver->getNodeInfo(signatureId, odomPose, mapId, weight, label, stamp);
}
return mapId;
return false;
}
cv::Mat Memory::getImageCompressed(int signatureId) const
@@ -3868,8 +3889,7 @@ void Memory::getMetricConstraints(
UDEBUG("");
for(unsigned int i=0; i<ids.size(); ++i)
{
Transform pose;
this->getPose(ids[i], pose, lookInDatabase);
Transform pose = getOdomPose(ids[i], lookInDatabase);
if(!pose.isNull())
{
poses.insert(std::make_pair(ids[i], pose));