sending words too when getting map

corelib/include/rtabmap/core/Memory.h

@@ -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;}

corelib/src/Memory.cpp

@@ -3354,6 +3354,42 @@ SensorData Memory::getNodeData(int nodeId, bool uncompressedData)
 	return r;
 }
 
+void Memory::getNodeWords(int nodeId,
+		std::multimap<int, cv::KeyPoint> & words,
+		std::multimap<int, pcl::PointXYZ> & words3)
+{
+	UDEBUG("nodeId=%d", nodeId);
+	Signature * s = this->_getSignature(nodeId);
+	if(s)
+	{
+		words = s->getWords();
+		words3 = s->getWords3();
+	}
+	else if(_dbDriver)
+	{
+		// load from database
+		std::list<Signature*> signatures;
+		std::list<int> ids;
+		ids.push_back(nodeId);
+		std::set<int> loadedFromTrash;
+		_dbDriver->loadSignatures(ids, signatures, &loadedFromTrash);
+		if(signatures.size())
+		{
+			words = signatures.front()->getWords();
+			words3 = signatures.front()->getWords3();
+			if(loadedFromTrash.size())
+			{
+				//put back
+				_dbDriver->asyncSave(signatures.front());
+			}
+			else
+			{
+				delete signatures.front();
+			}
+		}
+	}
+}
+
 SensorData Memory::getSignatureDataConst(int locationId) const
 {
 	UDEBUG("");

corelib/src/Rtabmap.cpp

@@ -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))