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Making Rtabmap interface easier to use from c++ (Update c++ example usage)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@695 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-01-10 20:29:01 +00:00
parent 0f4e24233c
commit b032699860
8 changed files with 205 additions and 129 deletions
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2
corelib/include/rtabmap/core/Memory.h
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@@ -77,8 +77,6 @@ public:
double * dbAccessTime = 0) const;
//getters
unsigned int getWorkingMemSize() const {return _workingMem.size();}
unsigned int getStMemSize() const {return _stMem.size();};
const std::set<int> & getWorkingMem() const {return _workingMem;}
const std::set<int> & getStMem() const {return _stMem;}
int getMaxStMemSize() const {return _maxStMemSize;}

29
corelib/include/rtabmap/core/Rtabmap.h
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@@ -62,45 +62,40 @@ public:
enum VhStrategy {kVhNone, kVhEpipolar, kVhUndef};
static const char * kDefaultIniFileName;
static const char * kDefaultIniFilePath;
static const char * kDefaultDatabaseName;
public:
static std::string getVersion();
static std::string getIniFilePath();
static void readParameters(const char * configFile, ParametersMap & parameters);
static void writeParameters(const char * configFile, const ParametersMap & parameters);
public:
Rtabmap();
Rtabmap(const std::string & workingDirectory = ".", bool deleteMemory = true);
virtual ~Rtabmap();
void process(const cv::Mat & image); // for convenience
void process(const Image & image); // for convenience
void dumpData();
void generateLocalGraph(const std::string & path, int id, int margin);
void init(const ParametersMap & param);
void init(const char * configFile = 0);
void clearBufferedSensors();
void close();
const std::string & getWorkingDir() const {return _wDir;}
int getLoopClosureId() const;
int getReactivatedId() const;
int getLastSignatureId() const;
int getRetrievedId() const;
int getLastLocationId() const;
float getLcHypValue() const {return _lastLcHypothesisValue;}
std::list<int> getWorkingMem() const;
std::set<int> getStMem() const;
std::list<int> getWM() const; // working memory
std::set<int> getSTM() const; // short-term memory
int getWMSize() const; // working memory size
int getSTMSize() const; // short-term memory size
std::map<int, int> getWeights() const;
int getTotalMemSize() const;
double getLastProcessTime() const {return _lastProcessTime;};
void setMaxTimeAllowed(float maxTimeAllowed); // in ms
void setDataBufferSize(int size);
void setWorkingDirectory(std::string path);
void deleteMemory();
void setTimeThreshold(float maxTimeAllowed); // in ms
void adjustLikelihood(std::map<int, float> & likelihood) const;
std::pair<int, float> selectHypothesis(const std::map<int, float> & posterior,
@@ -122,7 +117,11 @@ private:
void releaseAllStrategies();
void pushNewState(State newState, const ParametersMap & parameters = ParametersMap());
void dumpPrediction() const;
void dumpData();
void generateLocalGraph(const std::string & path, int id, int margin);
void parseParameters(const ParametersMap & parameters);
void setWorkingDirectory(std::string path);
void setDataBufferSize(int size);
private:
// Modifiable parameters