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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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14
corelib/src/DBDriver.cpp
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@@ -280,13 +280,6 @@ void DBDriver::load(VWDictionary * dictionary) const
_dbSafeAccessMutex.unlock();
}
void DBDriver::load(std::map<int, std::map<int, Transform> > & mapTransforms) const
{
_dbSafeAccessMutex.lock();
this->loadQuery(mapTransforms);
_dbSafeAccessMutex.unlock();
}
void DBDriver::loadLastNodes(std::list<Signature *> & signatures) const
{
_dbSafeAccessMutex.lock();
@@ -480,13 +473,6 @@ void DBDriver::getInvertedIndexNi(int signatureId, int & ni) const
_dbSafeAccessMutex.unlock();
}
void DBDriver::save(const std::map<int, std::map<int, Transform> > & mapTransforms) const
{
_dbSafeAccessMutex.lock();
saveQuery(mapTransforms);
_dbSafeAccessMutex.unlock();
}
void DBDriver::addStatisticsAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize) const
{
ULOGGER_DEBUG("");