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DbViewer: added mapId

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1561 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-14 19:16:26 +00:00
parent 2479272161
commit 6e7dde2aea
3 changed files with 28 additions and 4 deletions
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16
corelib/src/Memory.cpp
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@@ -2364,6 +2364,22 @@ bool Memory::rehearsalMerge(int oldId, int newId)
return false;
}
int Memory::getMapId(int signatureId) const
{
int mapId = 0;
const Signature * s = this->getSignature(signatureId);
if(s)
{
mapId = s->mapId();
}
else if(_dbDriver)
{
Transform pose;
_dbDriver->getPose(signatureId, pose, mapId);
}
return mapId;
}
std::vector<unsigned char> Memory::getImage(int signatureId) const
{
std::vector<unsigned char> image;