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0.20: added GlobalDescriptor table in database

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matlabbe
2020-05-03 21:46:25 -04:00
parent 50c3bb7ce9
commit c19da22ca4
11 changed files with 248 additions and 26 deletions
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corelib/src/Rtabmap.cpp
+11 -13
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@@ -3535,26 +3535,24 @@ bool Rtabmap::process(
UDEBUG("Computing RMSE...done!");
}
if(_saveWMState && _memory->isIncremental())
std::vector<int> ids;
ids.reserve(_memory->getWorkingMem().size() + _memory->getStMem().size());
for(std::set<int>::const_iterator iter=_memory->getStMem().begin(); iter!=_memory->getStMem().end(); ++iter)
{
std::vector<int> ids = uKeys(_memory->getWorkingMem());
if(_memory->getStMem().size())
{
ids.resize(ids.size() + _memory->getStMem().size());
for(std::set<int>::const_iterator iter=_memory->getStMem().begin(); iter!=_memory->getStMem().end(); ++iter)
{
ids.push_back(*iter);
}
}
statistics_.setWmState(ids);
ids.push_back(*iter);
}
UDEBUG("");
for(std::map<int, double>::const_iterator iter=_memory->getWorkingMem().lower_bound(0); iter!=_memory->getWorkingMem().end(); ++iter)
{
ids.push_back(iter->first);
}
statistics_.setWmState(ids);
UDEBUG("wmState=%d", (int)ids.size());
}
//Save statistics to database
if(_memory->isIncremental() || _memory->isLocalizationDataSaved())
{
_memory->saveStatistics(statistics_);
_memory->saveStatistics(statistics_, _saveWMState);
}
//Start trashing