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Added Rtabmap::getSignatureCopy()

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This commit is contained in:
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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corelib/src/Memory.cpp
+17 -37
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@@ -2698,13 +2698,13 @@ Transform Memory::computeTransform(
(_registrationPipeline->isScanRequired() && fromS.sensorData().imageCompressed().empty() && fromS.sensorData().laserScanCompressed().isEmpty()) ||
(_registrationPipeline->isUserDataRequired() && fromS.sensorData().imageCompressed().empty() && fromS.sensorData().userDataCompressed().empty()))
{
fromS.sensorData() = getNodeData(fromS.id());
fromS.sensorData() = getNodeData(fromS.id(), true, true, true, true);
}
if(((_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired()) && toS.sensorData().imageCompressed().empty()) ||
(_registrationPipeline->isScanRequired() && toS.sensorData().imageCompressed().empty() && toS.sensorData().laserScanCompressed().isEmpty()) ||
(_registrationPipeline->isUserDataRequired() && toS.sensorData().imageCompressed().empty() && toS.sensorData().userDataCompressed().empty()))
{
toS.sensorData() = getNodeData(toS.id());
toS.sensorData() = getNodeData(toS.id(), true, true, true, true);
}
// uncompress only what we need
cv::Mat imgBuf, depthBuf, userBuf;
@@ -3815,33 +3815,33 @@ cv::Mat Memory::getImageCompressed(int signatureId) const
return image;
}
SensorData Memory::getNodeData(int nodeId, bool uncompressedData) const
SensorData Memory::getNodeData(int locationId, bool images, bool scan, bool userData, bool occupancyGrid) const
{
//UDEBUG("nodeId=%d", nodeId);
//UDEBUG("");
SensorData r;
Signature * s = this->_getSignature(nodeId);
if(s && !s->sensorData().imageCompressed().empty())
const Signature * s = this->getSignature(locationId);
if(s && (!s->isSaved() ||
((!images || !s->sensorData().imageCompressed().empty()) &&
(!scan || !s->sensorData().laserScanCompressed().isEmpty()) &&
(!userData || !s->sensorData().userDataCompressed().empty()) &&
(!occupancyGrid || s->sensorData().gridCellSize() != 0.0f))))
{
r = s->sensorData();
}
else if(_dbDriver)
{
// load from database
_dbDriver->getNodeData(nodeId, r);
}
if(uncompressedData)
{
r.uncompressData();
_dbDriver->getNodeData(locationId, r, images, scan, userData, occupancyGrid);
}
return r;
}
void Memory::getNodeWords(int nodeId,
void Memory::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
{
//UDEBUG("nodeId=%d", nodeId);
Signature * s = this->_getSignature(nodeId);
@@ -3850,6 +3850,7 @@ void Memory::getNodeWords(int nodeId,
words = s->getWords();
words3 = s->getWords3();
wordsDescriptors = s->getWordsDescriptors();
globalDescriptors = s->sensorData().globalDescriptors();
}
else if(_dbDriver)
{
@@ -3864,6 +3865,7 @@ void Memory::getNodeWords(int nodeId,
words = signatures.front()->getWords();
words3 = signatures.front()->getWords3();
wordsDescriptors = signatures.front()->getWordsDescriptors();
globalDescriptors = signatures.front()->sensorData().globalDescriptors();
if(loadedFromTrash.size())
{
//put back
@@ -3879,7 +3881,7 @@ void Memory::getNodeWords(int nodeId,
void Memory::getNodeCalibration(int nodeId,
std::vector<CameraModel> & models,
StereoCameraModel & stereoModel)
StereoCameraModel & stereoModel) const
{
//UDEBUG("nodeId=%d", nodeId);
Signature * s = this->_getSignature(nodeId);
@@ -3895,28 +3897,6 @@ void Memory::getNodeCalibration(int nodeId,
}
}
SensorData Memory::getSignatureDataConst(int locationId,
bool images, bool scan, bool userData, bool occupancyGrid) const
{
//UDEBUG("");
SensorData r;
const Signature * s = this->getSignature(locationId);
if(s && (!s->sensorData().imageCompressed().empty() ||
!s->sensorData().laserScanCompressed().isEmpty() ||
!s->sensorData().userDataCompressed().empty() ||
s->sensorData().gridCellSize() != 0.0f))
{
r = s->sensorData();
}
else if(_dbDriver)
{
// load from database
_dbDriver->getNodeData(locationId, r, images, scan, userData, occupancyGrid);
}
return r;
}
void Memory::generateGraph(const std::string & fileName, const std::set<int> & ids)
{
if(!_dbDriver)