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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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corelib/src/Memory.cpp
+1 -1
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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());
corelib/src/Rtabmap.cpp
+1
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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());
corelib/src/Statistics.cpp
+2 -1
View File
@@ -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;
}