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Rtabmap::getSignatureCopy() added withWords and withGlobalDescriptors options

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matlabbe
2020-06-22 22:56:25 -04:00
parent c19f81ac12
commit 274903dd63
4 changed files with 39 additions and 24 deletions
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6
corelib/include/rtabmap/core/Rtabmap.h
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@@ -180,7 +180,7 @@ public:
void rejectLastLoopClosure();
void deleteLastLocation();
void setOptimizedPoses(const std::map<int, Transform> & poses);
Signature getSignatureCopy(int id, bool images, bool scan, bool userData, bool occupancyGrid) const;
Signature getSignatureCopy(int id, bool images, bool scan, bool userData, bool occupancyGrid, bool withWords, bool withGlobalDescriptors) const;
RTABMAP_DEPRECATED(
void get3DMap(std::map<int, Signature> & signatures,
std::map<int, Transform> & poses,
@@ -195,7 +195,9 @@ public:
bool withImages = false,
bool withScan = false,
bool withUserData = false,
bool withGrid = false) const;
bool withGrid = false,
bool withWords = true,
bool withGlobalDescriptors = true) const;
int detectMoreLoopClosures(
float clusterRadius = 0.5f,
float clusterAngle = M_PI/6.0f,