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rtabmap: added parameter to keep the old id or to update to new id when merging on rehearsal

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@758 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-01-27 04:50:49 +00:00
parent 635dd9c177
commit a4ccd6acd6
10 changed files with 156 additions and 111 deletions
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corelib/src/Rtabmap.cpp
+19 -18
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@@ -468,12 +468,11 @@ std::map<int, int> Rtabmap::getWeights()
std::set<int> Rtabmap::getSTM()
{
UScopeMutex s(&_threadMutex);
std::set<int> mem;
if(_memory)
{
mem = _memory->getStMem();
return _memory->getStMem();
}
return mem;
return std::set<int>();
}
int Rtabmap::getSTMSize()
@@ -489,47 +488,49 @@ int Rtabmap::getSTMSize()
int Rtabmap::getTotalMemSize()
{
UScopeMutex s(&_threadMutex);
ULOGGER_DEBUG("");
int memSize = 0;
if(_memory)
{
const Signature * s =_memory->getLastSignature();
if(s)
{
memSize = s->id();
return s->id();
}
}
return memSize;
return 0;
}
std::multimap<int, cv::KeyPoint> Rtabmap::getWords(int nodeId)
std::multimap<int, cv::KeyPoint> Rtabmap::getWords(int locationId)
{
UScopeMutex s(&_threadMutex);
std::multimap<int, cv::KeyPoint> words;
if(_memory)
{
const Signature * s = _memory->getSignature(nodeId);
const Signature * s = _memory->getSignature(locationId);
if(s)
{
words = s->getWords();
return s->getWords();
}
}
return words;
return std::multimap<int, cv::KeyPoint>();
}
std::map<int, int> Rtabmap::getNeighbors(int nodeId, int margin, bool lookInLTM)
{
UScopeMutex s(&_threadMutex);
std::map<int, int> ids;
if(_memory)
{
ids = _memory->getNeighborsId(nodeId, margin, lookInLTM?-1:0);
return _memory->getNeighborsId(nodeId, margin, lookInLTM?-1:0);
}
return std::map<int, int>();
}
return ids;
bool Rtabmap::isInSTM(int locationId)
{
UScopeMutex s(&_threadMutex);
if(_memory)
{
return _memory->isInSTM(locationId);
}
return false;
}
void Rtabmap::clearBufferedSensors()