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Retrieved data are now included in the rtabmap info message

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Map transform is only defined with the last loop closure for localization mode: on loop closure between two maps, there is only a TORO link added between the locations (no need to keep the transform between the maps) 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1058 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-01-08 16:11:00 +00:00
parent 6fc712c15d
commit 11eed189c9
12 changed files with 153 additions and 377 deletions
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corelib/include/rtabmap/core/Statistics.h
+22 -39
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@@ -104,21 +104,16 @@ public:
// setters
void setExtended(bool extended) {_extended = extended;}
void setRefImageId(int refImageId) {_refImageId = refImageId;}
void setRefImageMapId(int refImageMapId) {_refImageMapId = refImageMapId;}
void setLoopClosureId(int loopClosureId) {_loopClosureId = loopClosureId;}
void setLoopClosureMapId(int loopClosureMapId) {_loopClosureMapId = loopClosureMapId;}
void setLocalLoopClosureId(int localLoopClosureId) {_localLoopClosureId = localLoopClosureId;}
void setLocalLoopClosureMapId(int localLoopClosureMapId) {_localLoopClosureMapId = localLoopClosureMapId;}
void setRefImage(const std::vector<unsigned char> & image) {_refImage = image;}
void setLoopImage(const std::vector<unsigned char> & image) {_loopImage = image;}
void setRefDepth(const std::vector<unsigned char> & depth) {_refDepth = depth;}
void setRefDepth2D(const std::vector<unsigned char> & depth2d) {_refDepth2d = depth2d;}
void setLoopDepth(const std::vector<unsigned char> & depth) {_loopDepth = depth;}
void setLoopDepth2D(const std::vector<unsigned char> & depth2d) {_loopDepth2d = depth2d;}
void setRefDepthConstant(float depthConstant) {_refDepthConstant = depthConstant;}
void setLoopDepthConstant(float depthConstant) {_loopDepthConstant = depthConstant;}
void setRefLocalTransform(const Transform & localTransform) {_refLocalTransform = localTransform;}
void setLoopLocalTransform(const Transform & localTransform) {_loopLocalTransform = localTransform;}
void setMapIds(const std::map<int, int> & mapIds) {_mapIds = mapIds;}
void setImages(const std::map<int, std::vector<unsigned char> > & images) {_images = images;}
void setDepths(const std::map<int, std::vector<unsigned char> > & depths) {_depths = depths;}
void setDepth2ds(const std::map<int, std::vector<unsigned char> > & depth2ds) {_depth2ds = depth2ds;}
void setDepthConstants(const std::map<int, float> & depthConstants) {_depthConstants = depthConstants;}
void setLocalTransforms(const std::map<int, Transform> & localTransforms) {_localTransforms = localTransforms;}
void setPoses(const std::map<int, Transform> & poses) {_poses = poses;}
void setCurrentPose(const Transform & pose) {_currentPose = pose;}
void setMapCorrection(const Transform & mapCorrection) {_mapCorrection = mapCorrection;}
@@ -133,21 +128,16 @@ public:
// getters
bool extended() const {return _extended;}
int refImageId() const {return _refImageId;}
int refImageMapId() const {return _refImageMapId;}
int loopClosureId() const {return _loopClosureId;}
int loopClosureMapId() const {return _loopClosureMapId;}
int localLoopClosureId() const {return _localLoopClosureId;}
int localLoopClosureMapId() const {return _localLoopClosureMapId;}
const std::vector<unsigned char> & refImage() const {return _refImage;}
const std::vector<unsigned char> & loopImage() const {return _loopImage;}
const std::vector<unsigned char> & refDepth() const {return _refDepth;}
const std::vector<unsigned char> & loopDepth() const {return _loopDepth;}
const std::vector<unsigned char> & refDepth2D() const {return _refDepth2d;}
const std::vector<unsigned char> & loopDepth2D() const {return _loopDepth2d;}
float refDepthConstant() const {return _refDepthConstant;}
float loopDepthConstant() const {return _loopDepthConstant;}
const Transform & refLocalTransform() const {return _refLocalTransform;}
const Transform & loopLocalTransform() const {return _loopLocalTransform;}
const std::map<int, int> & getMapIds() const {return _mapIds;}
const std::map<int, std::vector<unsigned char> > & getImages() const {return _images;}
const std::map<int, std::vector<unsigned char> > & getDepths() const {return _depths;}
const std::map<int, std::vector<unsigned char> > & getDepth2ds() const {return _depth2ds;}
const std::map<int, float> & getDepthConstants() const {return _depthConstants;}
const std::map<int, Transform> & getLocalTransforms() const {return _localTransforms;}
const std::map<int, Transform> & poses() const {return _poses;}
const Transform & currentPose() const {return _currentPose;}
const Transform & mapCorrection() const {return _mapCorrection;}
@@ -165,25 +155,18 @@ private:
bool _extended; // 0 -> only loop closure and last signature ID fields are filled
int _refImageId;
int _refImageMapId;
int _loopClosureId;
int _loopClosureMapId;
int _localLoopClosureId;
int _localLoopClosureMapId;
// extended data start here...
std::vector<unsigned char> _refImage;
std::vector<unsigned char> _loopImage;
std::map<int, int> _mapIds;
std::map<int, std::vector<unsigned char> > _images;
// Metric data
std::vector<unsigned char> _refDepth;
std::vector<unsigned char> _refDepth2d;
std::vector<unsigned char> _loopDepth;
std::vector<unsigned char> _loopDepth2d;
float _refDepthConstant;
float _loopDepthConstant;
Transform _refLocalTransform;
Transform _loopLocalTransform;
std::map<int, std::vector<unsigned char> > _depths;
std::map<int, std::vector<unsigned char> > _depth2ds;
std::map<int, float> _depthConstants;
std::map<int, Transform> _localTransforms;
std::map<int, Transform> _poses;
Transform _currentPose;