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Added Rtabmap::getSignatureCopy()

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matlabbe
2020-05-05 13:26:40 -04:00
parent 7041d5fd34
commit 7d377d26df
6 changed files with 90 additions and 124 deletions
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10
corelib/include/rtabmap/core/Memory.h
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@@ -197,15 +197,15 @@ public:
EnvSensors & sensors,
bool lookInDatabase = false) const;
cv::Mat getImageCompressed(int signatureId) const;
SensorData getNodeData(int nodeId, bool uncompressedData = false) const;
void getNodeWords(int nodeId,
SensorData getNodeData(int locationId, bool images, bool scan, bool userData, bool occupancyGrid) const;
void getNodeWordsAndGlobalDescriptors(int nodeId,
std::multimap<int, cv::KeyPoint> & words,
std::multimap<int, cv::Point3f> & words3,
std::multimap<int, cv::Mat> & wordsDescriptors);
std::multimap<int, cv::Mat> & wordsDescriptors,
std::vector<GlobalDescriptor> & globalDescriptors) const;
void getNodeCalibration(int nodeId,
std::vector<CameraModel> & models,
StereoCameraModel & stereoModel);
SensorData getSignatureDataConst(int locationId, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
StereoCameraModel & stereoModel) const;
std::set<int> getAllSignatureIds() const;
bool memoryChanged() const {return _memoryChanged;}
bool isIncremental() const {return _incrementalMemory;}

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -156,6 +156,7 @@ public:
void rejectLastLoopClosure();
void deleteLastLocation();
void setOptimizedPoses(const std::map<int, Transform> & poses);
Signature getSignatureCopy(int id, bool images, bool scan, bool userData, bool occupancyGrid) const;
void get3DMap(std::map<int, Signature> & signatures,
std::map<int, Transform> & poses,
std::multimap<int, Link> & constraints,