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ios first release

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matlabbe
2021-06-08 00:06:49 -04:00
parent 630cb6a59f
commit 289d4afd76
88 changed files with 9260 additions and 473 deletions
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corelib/src/Rtabmap.cpp
+7 -6
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@@ -2239,11 +2239,11 @@ bool Rtabmap::process(
{
for(std::map<int, Link>::const_iterator iter=signature->getLandmarks().begin(); iter!=signature->getLandmarks().end(); ++iter)
{
if(uContains(_memory->getLandmarksInvertedIndex(), iter->first) &&
_memory->getLandmarksInvertedIndex().find(iter->first)->second.size()>1)
if(uContains(_memory->getLandmarksIndex(), iter->first) &&
_memory->getLandmarksIndex().find(iter->first)->second.size()>1)
{
landmarkDetected = iter->first;
landmarkDetectedNodesRef = _memory->getLandmarksInvertedIndex().find(iter->first)->second;
landmarkDetectedNodesRef = _memory->getLandmarksIndex().find(iter->first)->second;
UINFO("Landmark %d observed again! Seen the first time by node %d.", -iter->first, *landmarkDetectedNodesRef.begin());
break;
}
@@ -3146,8 +3146,8 @@ bool Rtabmap::process(
_lastLocalizationNodeId = newLocId!=0?newLocId:_lastLocalizationNodeId;
if(newLocId==0 && landmarkDetected!=0)
{
std::map<int, std::set<int> >::const_iterator iter = _memory->getLandmarksInvertedIndex().find(landmarkDetected);
if(iter!=_memory->getLandmarksInvertedIndex().end())
std::map<int, std::set<int> >::const_iterator iter = _memory->getLandmarksIndex().find(landmarkDetected);
if(iter!=_memory->getLandmarksIndex().end())
{
if(iter->second.size() && *iter->second.begin()!=signature->id())
{
@@ -4002,9 +4002,10 @@ void Rtabmap::deleteLastLocation()
}
}
void Rtabmap::setOptimizedPoses(const std::map<int, Transform> & poses)
void Rtabmap::setOptimizedPoses(const std::map<int, Transform> & poses, const std::multimap<int, Link> & constraints)
{
_optimizedPoses = poses;
_constraints = constraints;
}
void Rtabmap::dumpData() const