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

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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
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corelib/src/Rtabmap.cpp
+20
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@@ -599,6 +599,26 @@ int Rtabmap::triggerNewMap()
return mapId;
}
bool Rtabmap::labelLocation(int id, const std::string & label)
{
if(!label.empty() && _memory)
{
if(id > 0)
{
return _memory->labelSignature(id, label);
}
else if(_memory->getLastWorkingSignature())
{
return _memory->labelSignature(_memory->getLastWorkingSignature()->id(), label);
}
else
{
UERROR("Last signature is null! Cannot set label \"%s\"", label.c_str());
}
}
return false;
}
void Rtabmap::generateDOTGraph(const std::string & path, int id, int margin)
{
if(_memory)