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

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@754 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2013-01-25 21:05:20 +00:00
parent cda3948c2e
commit 635dd9c177
3 changed files with 18 additions and 3 deletions
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corelib/include/rtabmap/core/Rtabmap.h
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@@ -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