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Deprecated Rtabmap::get3DMap(), use Rtabmap::getGraph() instead with setting to true the data flags. Rtabmap::getGraph() now ignores children nodes.

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matlabbe
2020-05-06 08:04:58 -04:00
parent 7d377d26df
commit 1af139134e
8 changed files with 52 additions and 82 deletions
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2
corelib/include/rtabmap/core/Memory.h
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@@ -206,7 +206,7 @@ public:
void getNodeCalibration(int nodeId,
std::vector<CameraModel> & models,
StereoCameraModel & stereoModel) const;
std::set<int> getAllSignatureIds() const;
std::set<int> getAllSignatureIds(bool ignoreChildren = true) const;
bool memoryChanged() const {return _memoryChanged;}
bool isIncremental() const {return _incrementalMemory;}
bool isLocalizationDataSaved() const {return _localizationDataSaved;}

17
corelib/include/rtabmap/core/Rtabmap.h
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@@ -157,16 +157,21 @@ public:
void deleteLastLocation();
void setOptimizedPoses(const std::map<int, Transform> & poses);
Signature getSignatureCopy(int id, bool images, bool scan, bool userData, bool occupancyGrid) const;
void get3DMap(std::map<int, Signature> & signatures,
std::map<int, Transform> & poses,
std::multimap<int, Link> & constraints,
bool optimized,
bool global) const;
RTABMAP_DEPRECATED(
void get3DMap(std::map<int, Signature> & signatures,
std::map<int, Transform> & poses,
std::multimap<int, Link> & constraints,
bool optimized,
bool global) const, "Use getGraph() instead with withImages=true, withScan=true, withUserData=true and withGrid=true.");
void getGraph(std::map<int, Transform> & poses,
std::multimap<int, Link> & constraints,
bool optimized,
bool global,
std::map<int, Signature> * signatures = 0);
std::map<int, Signature> * signatures = 0,
bool withImages = false,
bool withScan = false,
bool withUserData = false,
bool withGrid = false) const;
int detectMoreLoopClosures(
float clusterRadius = 0.5f,
float clusterAngle = M_PI/6.0f,