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Updated CameraDatabase : loading also the associated actions with image loaded

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Memory : Saving neighbors of looped locations (for a trace in DB)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@313 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-08-25 20:22:50 +00:00
parent 2b06480278
commit 176ca33e27
9 changed files with 113 additions and 92 deletions
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8
corelib/ConsoleApp/main.cpp
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@@ -406,11 +406,11 @@ int main(int argc, char * argv[])
std::list<std::vector<float> > actions;
while(loopDataset <= repeat && g_forever)
{
image = camera->takeImage();
SMState * smState = camera->takeImage();
int i=0;
while(image && g_forever)
while(smState && g_forever)
{
SMState * smState = imageToSMState.process(image);
imageToSMState.process(smState);
++imagesProcessed;
iterationTimer.start();
if(i<maxTeleopActions)
@@ -435,7 +435,7 @@ int main(int argc, char * argv[])
{
++countLoopDetected;
}
image = camera->takeImage();
smState = camera->takeImage();
if(++count % 100 == 0)
{
printf(" count = %d, loop closures = %d\n", count, countLoopDetected);