i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

rtabmap::getGraph() returning mapIds too

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1681 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-09-22 18:02:07 +00:00
parent c4408920f6
commit c5eedd9a9d
3 changed files with 15 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
corelib/include/rtabmap/core/Rtabmap.h
View File

@@ -121,6 +121,7 @@ public:
bool global) const;
void getGraph(std::map<int, Transform> & poses,
std::multimap<int, Link> & constraints,
std::map<int, int> & mapIds,
bool optimized,
bool global);

13
corelib/src/Rtabmap.cpp
View File

@@ -2326,6 +2326,7 @@ void Rtabmap::get3DMap(std::map<int, std::vector<unsigned char> > & images,
void Rtabmap::getGraph(
std::map<int, Transform> & poses,
std::multimap<int, Link> & constraints,
std::map<int, int> & mapIds,
bool optimized,
bool global)
{
@@ -2340,6 +2341,18 @@ void Rtabmap::getGraph(
std::map<int, int> ids = _memory->getNeighborsId(_memory->getLastWorkingSignature()->id(), 0, global?-1:0, true);
_memory->getMetricConstraints(uKeys(ids), poses, constraints, global);
}
std::set<int> ids = _memory->getWorkingMem(); // STM + WM
ids.insert(_memory->getStMem().begin(), _memory->getStMem().end());
if(global)
{
ids = _memory->getAllSignatureIds(); // STM + WM + LTM
}
for(std::set<int>::iterator iter = ids.begin(); iter!=ids.end(); ++iter)
{
mapIds.insert(std::make_pair(*iter, _memory->getMapId(*iter)));
}
}
}

1
corelib/src/RtabmapThread.cpp
View File

@@ -155,6 +155,7 @@ void RtabmapThread::publishTOROGraph(bool optimized, bool full) const
_rtabmap->getGraph(poses,
constraints,
mapIds,
optimized,
full);