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sending words too when getting map

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matlabbe
2015-07-15 18:15:27 -04:00
parent 82ef6231c4
commit 185bc12cae
3 changed files with 45 additions and 0 deletions
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4
corelib/include/rtabmap/core/Memory.h
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@@ -42,6 +42,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UStl.h"
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <pcl/point_types.h>
namespace rtabmap {
@@ -140,6 +141,9 @@ public:
bool lookInDatabase = false) const;
cv::Mat getImageCompressed(int signatureId) const;
SensorData getNodeData(int nodeId, bool uncompressedData = false);
void getNodeWords(int nodeId,
std::multimap<int, cv::KeyPoint> & words,
std::multimap<int, pcl::PointXYZ> & words3);
SensorData getSignatureDataConst(int locationId) const;
std::set<int> getAllSignatureIds() const;
bool memoryChanged() const {return _memoryChanged;}