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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
This commit is contained in:
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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1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -95,6 +95,7 @@ public:
int getTotalMemSize(); int getTotalMemSize();
double getLastProcessTime() const {return _lastProcessTime;}; double getLastProcessTime() const {return _lastProcessTime;};
std::multimap<int, cv::KeyPoint> getWords(int nodeId); 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 void setTimeThreshold(float maxTimeAllowed); // in ms

7
corelib/src/Memory.cpp
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@@ -71,18 +71,19 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
this->parseParameters(parameters); this->parseParameters(parameters);
UEventsManager::post(new RtabmapEventInit("Clearing memory...")); UEventsManager::post(new RtabmapEventInit("Clearing memory..."));
DBDriver * tmpDriver = 0;
if(!_memoryChanged) if(!_memoryChanged)
{ {
if(_dbDriver) if(_dbDriver)
{ {
_dbDriver->closeConnection(); tmpDriver = _dbDriver;
delete _dbDriver; _dbDriver = 0; // HACK for the clear() below to think that there is no db
_dbDriver = 0;
} }
} }
this->clear(); this->clear();
UEventsManager::post(new RtabmapEventInit("Clearing memory, done!")); UEventsManager::post(new RtabmapEventInit("Clearing memory, done!"));
_dbDriver = tmpDriver;
if(_dbDriver) if(_dbDriver)
{ {
UEventsManager::post(new RtabmapEventInit("Closing database connection...")); UEventsManager::post(new RtabmapEventInit("Closing database connection..."));

13
corelib/src/Rtabmap.cpp
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@@ -519,6 +519,19 @@ std::multimap<int, cv::KeyPoint> Rtabmap::getWords(int nodeId)
return words; 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() void Rtabmap::clearBufferedSensors()
{ {
_imageMutex.lock(); _imageMutex.lock();