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RTAB-Map : added localLoopClosureId for VSLAM use...

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@877 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-06-05 19:25:16 +00:00
parent 85c2f5d1e9
commit 504e51db12
6 changed files with 25 additions and 6 deletions
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2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -74,7 +74,7 @@ public:
int getTotalMemSize() const;
double getLastProcessTime() const {return _lastProcessTime;};
std::multimap<int, cv::KeyPoint> getWords(int locationId) const;
std::map<int, int> getNeighbors(int nodeId, int margin, bool lookInLTM = false) const;
std::map<int, int> getNeighbors(int nodeId, int margin, bool lookInLTM = false) const;// <Id,Margin> including nodeId
bool isInSTM(int locationId) const;
const Statistics & getStatistics() const;

3
corelib/include/rtabmap/core/Statistics.h
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@@ -89,6 +89,7 @@ public:
void setExtended(bool extended) {_extended = extended;}
void setRefImageId(int refImageId) {_refImageId = refImageId;}
void setLoopClosureId(int loopClosureId) {_loopClosureId = loopClosureId;}
void setLocalLoopClosureId(int localLoopClosureId) {_localLoopClosureId = localLoopClosureId;}
void setRefImage(const cv::Mat & image);
void setLoopImage(const cv::Mat & image);
void setWeights(const std::map<int, int> & weights) {_weights = weights;}
@@ -102,6 +103,7 @@ public:
bool extended() const {return _extended;}
int refImageId() const {return _refImageId;}
int loopClosureId() const {return _loopClosureId;}
int localLoopClosureId() const {return _localLoopClosureId;}
const cv::Mat & refImage() const {return _refImage;}
const cv::Mat & loopImage() const {return _loopImage;}
const std::map<int, int> & weights() const {return _weights;}
@@ -118,6 +120,7 @@ private:
int _refImageId;
int _loopClosureId;
int _localLoopClosureId; // Note: used by VSLAM
// extended data start here...
cv::Mat _refImage;

2
corelib/src/Memory.cpp
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@@ -1618,7 +1618,7 @@ bool Memory::addLoopClosureLink(int oldId, int newId)
void Memory::dumpMemory(std::string directory) const
{
ULOGGER_DEBUG("");
UINFO("Dumping memory to directory \"%s\"", directory.c_str());
this->dumpDictionary((directory+"DumpMemoryWordRef.txt").c_str(), (directory+"DumpMemoryWordDesc.txt").c_str());
this->dumpSignatures((directory + "DumpMemorySign.txt").c_str());
this->dumpMemoryTree((directory + "DumpMemoryTree.txt").c_str());

1
corelib/src/Rtabmap.cpp
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@@ -1237,6 +1237,7 @@ void Rtabmap::process(const cv::Mat & image, int id)
void Rtabmap::dumpData() const
{
UDEBUG("");
if(_memory)
{
_memory->dumpMemory(this->getWorkingDir());

3
corelib/src/Statistics.cpp
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@@ -33,7 +33,8 @@ const std::map<std::string, float> & Statistics::defaultData()
Statistics::Statistics() :
_extended(0),
_refImageId(0),
_loopClosureId(0)
_loopClosureId(0),
_localLoopClosureId(0)
{
_defaultDataInitialized = true;
}