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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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corelib/src/Rtabmap.cpp
+5
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@@ -2880,6 +2880,9 @@ void Rtabmap::get3DMap(
_memory->getNodeInfo(*iter, odomPose, mapId, weight, label, stamp, true);
SensorData data = _memory->getNodeData(*iter);
data.setId(*iter);
std::multimap<int, cv::KeyPoint> words;
std::multimap<int, pcl::PointXYZ> words3;
_memory->getNodeWords(*iter, words, words3);
signatures.insert(std::make_pair(*iter,
Signature(*iter,
mapId,
@@ -2888,6 +2891,8 @@ void Rtabmap::get3DMap(
label,
odomPose,
data)));
signatures.at(*iter).setWords(words);
signatures.at(*iter).setWords3(words3);
}
}
else if(_memory && (_memory->getStMem().size() || _memory->getWorkingMem().size() > 1))