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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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2
corelib/src/DBDriverSqlite3.h
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@@ -54,11 +54,9 @@ private:
virtual void saveQuery(const std::list<VisualWord *> & words) const;
virtual void updateQuery(const std::list<Signature *> & signatures) const;
virtual void updateQuery(const std::list<VisualWord *> & words) const;
virtual void saveQuery(const std::map<int, std::map<int, Transform> > & mapTransforms) const;
// Load objects
virtual void loadQuery(VWDictionary * dictionary) const;
virtual void loadQuery(std::map<int, std::map<int, Transform> > & mapTransforms) const;
virtual void loadLastNodesQuery(std::list<Signature *> & signatures) const;
virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const;
virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const;