i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

rtabmap: deleteLastLocation now delete the location instead of saving it in database

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@831 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-02-17 22:27:31 +00:00
parent 2545e29e36
commit 3d05294663
2 changed files with 6 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/include/rtabmap/core/Memory.h
View File

@@ -130,7 +130,7 @@ protected:
void preUpdate(); void preUpdate();
void addSignatureToStm(Signature * signature); void addSignatureToStm(Signature * signature);
void clear(); void clear();
void moveToTrash(Signature * s); void moveToTrash(Signature * s, bool saveToDatabase = true);
void addSignatureToWm(Signature * signature); void addSignatureToWm(Signature * signature);
Signature * _getSignature(int id) const; Signature * _getSignature(int id) const;

9
corelib/src/Memory.cpp
View File

@@ -1336,7 +1336,7 @@ std::list<Signature *> Memory::getRemovableSignatures(int count, const std::set<
return removableSignatures; return removableSignatures;
} }
void Memory::moveToTrash(Signature * s) void Memory::moveToTrash(Signature * s, bool saveToDatabase)
{ {
UINFO("id=%d", s?s->id():0); UINFO("id=%d", s?s->id():0);
if(s) if(s)
@@ -1369,7 +1369,8 @@ void Memory::moveToTrash(Signature * s)
s->removeNeighbors(); s->removeNeighbors();
} }
if( _dbDriver && if( saveToDatabase &&
_dbDriver &&
s->id()>0) s->id()>0)
{ {
_dbDriver->asyncSave(s); _dbDriver->asyncSave(s);
@@ -1390,7 +1391,7 @@ const Signature * Memory::getLastSignature() const
void Memory::deleteLastLocation() void Memory::deleteLastLocation()
{ {
Signature * lastSignature = _lastSignature; Signature * lastSignature = _lastSignature;
if(_lastSignature) if(lastSignature)
{ {
UDEBUG("deleting last location %d", lastSignature->id()); UDEBUG("deleting last location %d", lastSignature->id());
const std::set<int> & neighbors = lastSignature->getNeighbors(); const std::set<int> & neighbors = lastSignature->getNeighbors();
@@ -1416,7 +1417,7 @@ void Memory::deleteLastLocation()
} }
lastSignature->setWeight(0); lastSignature->setWeight(0);
this->moveToTrash(lastSignature); this->moveToTrash(lastSignature, false);
} }
} }