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OccupancyGrid: added getCache() method

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matlabbe
2018-08-02 16:53:44 -04:00
parent e03da92a90
commit a0342671ac
3 changed files with 3 additions and 2 deletions
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1
corelib/include/rtabmap/core/OccupancyGrid.h
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@@ -53,6 +53,7 @@ public:
bool isMapFrameProjection() const {return projMapFrame_;} bool isMapFrameProjection() const {return projMapFrame_;}
const std::map<int, Transform> & addedNodes() const {return addedNodes_;} const std::map<int, Transform> & addedNodes() const {return addedNodes_;}
int cacheSize() const {return (int)cache_.size();} int cacheSize() const {return (int)cache_.size();}
const std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> > & getCache() const {return cache_;}
template<typename PointT> template<typename PointT>
typename pcl::PointCloud<PointT>::Ptr segmentCloud( typename pcl::PointCloud<PointT>::Ptr segmentCloud(

2
corelib/src/OccupancyGrid.cpp
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@@ -786,7 +786,7 @@ void OccupancyGrid::update(const std::map<int, Transform> & posesIn)
{ {
if(addedNodes_.find(iter->first) == addedNodes_.end()) if(addedNodes_.find(iter->first) == addedNodes_.end())
{ {
UDEBUG("Pose %d not found in current added poses, it be added to map", iter->first); UDEBUG("Pose %d not found in current added poses, it will be added to map", iter->first);
poses.push_back(*iter); poses.push_back(*iter);
} }
} }

2
corelib/src/VWDictionary.cpp
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@@ -1162,7 +1162,7 @@ std::vector<int> VWDictionary::findNN(const cv::Mat & queryIn) const
{ {
float d = dists.at<float>(i,j); float d = dists.at<float>(i,j);
int index; int index;
UWARN("results elemSize1=%d", results.elemSize1());
if (sizeof(size_t) == 8) if (sizeof(size_t) == 8)
{ {
index = *((size_t*)&results.at<double>(i, j)); index = *((size_t*)&results.at<double>(i, j));