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Fixed labels not correctly shown. Fixed planner not sending next goals when memory management is disabled.

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matlabbe
2018-11-19 18:00:24 -05:00
parent bf2a9db5e4
commit 283c1df00c
5 changed files with 55 additions and 54 deletions
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3
corelib/include/rtabmap/core/Memory.h
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@@ -160,7 +160,7 @@ public:
const Signature * getLastWorkingSignature() const;
int getSignatureIdByLabel(const std::string & label, bool lookInDatabase = true) const;
bool labelSignature(int id, const std::string & label);
std::map<int, std::string> getAllLabels() const;
const std::map<int, std::string> & getAllLabels() const {return _labels;}
bool allNodesInWM() const {return _allNodesInWM;}
/**
@@ -328,6 +328,7 @@ private:
std::set<int> _stMem; // id
std::map<int, double> _workingMem; // id,age
std::map<int, Transform> _groundTruths;
std::map<int, std::string> _labels;
//Keypoint stuff
VWDictionary * _vwd;

3
corelib/include/rtabmap/core/Statistics.h
View File

@@ -192,6 +192,7 @@ public:
void setMapCorrection(const Transform & mapCorrection) {_mapCorrection = mapCorrection;}
void setLoopClosureTransform(const Transform & loopClosureTransform) {_loopClosureTransform = loopClosureTransform;}
void setLocalizationCovariance(const cv::Mat & covariance) {_localizationCovariance = covariance;}
void setLabels(const std::map<int, std::string> & labels) {_labels = labels;}
void setWeights(const std::map<int, int> & weights) {_weights = weights;}
void setPosterior(const std::map<int, float> & posterior) {_posterior = posterior;}
void setLikelihood(const std::map<int, float> & likelihood) {_likelihood = likelihood;}
@@ -218,6 +219,7 @@ public:
const Transform & mapCorrection() const {return _mapCorrection;}
const Transform & loopClosureTransform() const {return _loopClosureTransform;}
const cv::Mat & localizationCovariance() const {return _localizationCovariance;}
const std::map<int, std::string> & labels() const {return _labels;}
const std::map<int, int> & weights() const {return _weights;}
const std::map<int, float> & posterior() const {return _posterior;}
const std::map<int, float> & likelihood() const {return _likelihood;}
@@ -248,6 +250,7 @@ private:
Transform _loopClosureTransform;
cv::Mat _localizationCovariance;
std::map<int, std::string> _labels;
std::map<int, int> _weights;
std::map<int, float> _posterior;
std::map<int, float> _likelihood;