i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Database update (version 0.8.5): added Node.stamp and Node.label fields

Browse Source 
Added labeling mechanism of nodes (by default the first node of a map is tagged "map#")
This commit is contained in:
Mathieu Labbe
2015-02-27 15:24:15 -05:00
parent 1d39db2bcc
commit 721de2e76b
21 changed files with 411 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files

35
corelib/src/DBDriver.cpp
View File

@@ -483,6 +483,41 @@ void DBDriver::getInvertedIndexNi(int signatureId, int & ni) const
_dbSafeAccessMutex.unlock();
}
void DBDriver::getNodeIdByLabel(const std::string & label, int & id) const
{
if(!label.empty())
{
int idFound = 0;
// look in the trash
_trashesMutex.lock();
for(std::map<int, Signature*>::const_iterator sIter = _trashSignatures.begin(); sIter!=_trashSignatures.end(); ++sIter)
{
if(sIter->second->getLabel().compare(label) == 0)
{
idFound = sIter->first;
break;
}
}
_trashesMutex.unlock();
// then look in the database
if(idFound == 0)
{
_dbSafeAccessMutex.lock();
this->getNodeIdByLabelQuery(label, id);
_dbSafeAccessMutex.unlock();
}
else
{
id = idFound;
}
}
else
{
UWARN("Can't search with an empty label!");
}
}
void DBDriver::addStatisticsAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize) const
{
ULOGGER_DEBUG("");