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Added mapIds to rtabmap::get3DMap()

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1644 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-08-13 18:57:17 +00:00
parent 4fba63b882
commit 7cf89b6d76
4 changed files with 17 additions and 4 deletions
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1
corelib/include/rtabmap/core/Rtabmap.h
View File

@@ -115,6 +115,7 @@ public:
std::map<int, Transform> & localTransforms,
std::map<int, Transform> & poses,
std::multimap<int, Link> & constraints,
std::map<int, int> & mapIds,
bool optimized,
bool global) const;
void getGraph(std::map<int, Transform> & poses,

8
corelib/include/rtabmap/core/RtabmapEvent.h
View File

@@ -161,7 +161,8 @@ public:
const std::map<int, float> & depthCys,
const std::map<int, Transform> & localTransforms,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints) :
const std::multimap<int, Link> & constraints,
const std::map<int, int> & mapIds) :
UEvent(0),
_images(images),
_depths(depths),
@@ -172,7 +173,8 @@ public:
_depthCys(depthCys),
_localTransforms(localTransforms),
_poses(poses),
_constraints(constraints)
_constraints(constraints),
_mapIds(mapIds)
{}
virtual ~RtabmapEvent3DMap() {}
@@ -187,6 +189,7 @@ public:
const std::map<int, Transform> & getLocalTransforms() const {return _localTransforms;}
const std::map<int, Transform> & getPoses() const {return _poses;}
const std::multimap<int, Link> & getConstraints() const {return _constraints;}
const std::map<int, int> & getMapIds() const {return _mapIds;}
virtual std::string getClassName() const {return std::string("RtabmapEvent3DMap");}
@@ -201,6 +204,7 @@ private:
std::map<int, Transform> _localTransforms;
std::map<int, Transform> _poses;
std::multimap<int, Link> _constraints;
std::map<int, int> _mapIds;
};
} // namespace rtabmap

3
corelib/src/Rtabmap.cpp
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@@ -2177,6 +2177,7 @@ void Rtabmap::get3DMap(std::map<int, std::vector<unsigned char> > & images,
std::map<int, Transform> & localTransforms,
std::map<int, Transform> & poses,
std::multimap<int, Link> & constraints,
std::map<int, int> & mapIds,
bool optimized,
bool global) const
{
@@ -2229,6 +2230,8 @@ void Rtabmap::get3DMap(std::map<int, std::vector<unsigned char> > & images,
{
localTransforms.insert(std::make_pair(*iter, localTransform));
}
mapIds.insert(std::make_pair(*iter, _memory->getMapId(*iter)));
}
}
}

9
corelib/src/RtabmapThread.cpp
View File

@@ -110,6 +110,7 @@ void RtabmapThread::publishMap(bool optimized, bool full) const
std::map<int, Transform> localTransforms;
std::map<int, Transform> poses;
std::multimap<int, Link> constraints;
std::map<int, int> mapIds;
_rtabmap->get3DMap(images,
depths,
@@ -121,6 +122,7 @@ void RtabmapThread::publishMap(bool optimized, bool full) const
localTransforms,
poses,
constraints,
mapIds,
optimized,
full);
@@ -133,7 +135,8 @@ void RtabmapThread::publishMap(bool optimized, bool full) const
depthCys,
localTransforms,
poses,
constraints));
constraints,
mapIds));
}
void RtabmapThread::publishTOROGraph(bool optimized, bool full) const
@@ -148,6 +151,7 @@ void RtabmapThread::publishTOROGraph(bool optimized, bool full) const
std::map<int, Transform> localTransforms;
std::map<int, Transform> poses;
std::multimap<int, Link> constraints;
std::map<int, int> mapIds;
_rtabmap->getGraph(poses,
constraints,
@@ -163,7 +167,8 @@ void RtabmapThread::publishTOROGraph(bool optimized, bool full) const
depthCys,
localTransforms,
poses,
constraints));
constraints,
mapIds));
}