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Fixed default nearest neighbor approach for the dictionary when the parameter is not set.

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rtabmap_gui parameters panel can be opened without rtabmap parameters set on ROS (only GUI parameters can be changed).
Rtabmap: added getStatistics() method for convenience
Rtabmap/Memory: added deleteLastLocation() method to remove the last location in the STM.
 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@779 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-01-28 18:13:56 +00:00
parent a4ccd6acd6
commit 1b7c995ea0
8 changed files with 134 additions and 55 deletions
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corelib/src/Memory.cpp
+32
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@@ -1384,6 +1384,38 @@ const Signature * Memory::getLastSignature() const
return _lastSignature;
}
void Memory::deleteLastLocation()
{
Signature * lastSignature = _lastSignature;
if(_lastSignature)
{
UDEBUG("deleting last location %d", lastSignature->id());
const std::set<int> & neighbors = lastSignature->getNeighbors();
for(std::set<int>::iterator iter=neighbors.begin(); iter!=neighbors.end(); ++iter)
{
Signature * s = _getSignature(*iter);
if(s)
{
s->removeNeighbor(lastSignature->id());
_lastSignature = s;
}
}
const std::set<int> & child = lastSignature->getChildLoopClosureIds();
for(std::set<int>::iterator iter=child.begin(); iter!=child.end(); ++iter)
{
Signature * s = _getSignature(*iter);
if(s)
{
s->removeLoopClosureId(lastSignature->id());
s->setWeight(s->getWeight() + lastSignature->getWeight());
}
}
this->moveToTrash(lastSignature);
}
}
bool Memory::addLoopClosureLink(int oldId, int newId)
{
ULOGGER_INFO("old=%d, new=%d", oldId, newId);