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Retrieval margin spreading +2

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Rollback change about last location in WM not used in posterior (now it is)
In consoleApp, surf extraction is done outside the rtabmap processing

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@295 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-07-19 21:52:33 +00:00
parent 73a2d589ab
commit bcbd35d368
4 changed files with 38 additions and 43 deletions
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15
corelib/ConsoleApp/main.cpp
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@@ -368,9 +368,6 @@ int main(int argc, char * argv[])
pm.insert(ParametersPair(Parameters::kRtabmapPublishStats(), uBool2str(false)));
rtabmap->init(pm);
printf("Avpd init time = %fs\n", timer.ticks());
// Start thread's task
@@ -396,6 +393,12 @@ int main(int argc, char * argv[])
}
printf("\nProcessing images...\n");
//setup camera
ParametersMap allParam;
Rtabmap::readParameters(rtabmap->getIniFilePath().c_str(), allParam);
pm.insert(allParam.begin(), allParam.end());
CamKeypointTreatment imageToSMState(pm);
UTimer iterationTimer;
int imagesProcessed = 0;
std::list<std::vector<float> > teleopActions;
@@ -407,9 +410,9 @@ int main(int argc, char * argv[])
int i=0;
while(image && g_forever)
{
SMState * smState = imageToSMState.process(image);
++imagesProcessed;
iterationTimer.start();
SMState * smState;
if(i<maxTeleopActions)
{
// ONLY TESTING HERE if maxTeleopActions>0
@@ -417,12 +420,12 @@ int main(int argc, char * argv[])
v[0] = 2;
v[1] = 0;
teleopActions.push_back(v);
smState = new SMState(std::list<std::vector<float> >(), teleopActions);
smState->setActuators(teleopActions);
smState->setImage(image);
}
else
{
smState = new SMState(std::list<std::vector<float> >(), actions);
smState->setActuators(actions);
smState->setImage(image);
}
rtabmap->process(smState);