Added Rtabmap::getNeighbors() method for convenience. Fixed lost of db parameters when resetting memory when memory has not changed.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@754 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/Rtabmap.h

@@ -95,6 +95,7 @@ public:
 	int getTotalMemSize();
 	double getLastProcessTime() const {return _lastProcessTime;};
 	std::multimap<int, cv::KeyPoint> getWords(int nodeId);
+	std::map<int, int> getNeighbors(int nodeId, int margin, bool lookInLTM = false);
 
 	void setTimeThreshold(float maxTimeAllowed); // in ms
 

corelib/src/Memory.cpp

@@ -71,18 +71,19 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
 	this->parseParameters(parameters);
 
 	UEventsManager::post(new RtabmapEventInit("Clearing memory..."));
+	DBDriver * tmpDriver = 0;
 	if(!_memoryChanged)
 	{
 		if(_dbDriver)
 		{
-			_dbDriver->closeConnection();
-			delete _dbDriver;
-			_dbDriver = 0;
+			tmpDriver = _dbDriver;
+			_dbDriver = 0; // HACK for the clear() below to think that there is no db
 		}
 	}
 	this->clear();
 	UEventsManager::post(new RtabmapEventInit("Clearing memory, done!"));
 
+	_dbDriver = tmpDriver;
 	if(_dbDriver)
 	{
 		UEventsManager::post(new RtabmapEventInit("Closing database connection..."));

corelib/src/Rtabmap.cpp

@@ -519,6 +519,19 @@ std::multimap<int, cv::KeyPoint> Rtabmap::getWords(int nodeId)
 	return words;
 }
 
+std::map<int, int> Rtabmap::getNeighbors(int nodeId, int margin, bool lookInLTM)
+{
+	UScopeMutex s(&_threadMutex);
+	std::map<int, int> ids;
+
+	if(_memory)
+	{
+		ids = _memory->getNeighborsId(nodeId, margin, lookInLTM?-1:0);
+	}
+
+	return ids;
+}
+
 void Rtabmap::clearBufferedSensors()
 {
 	_imageMutex.lock();