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Rtabmap: Added getPathNextPoses() and getPathNextNodes(). Local path is sent over statistics.

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GUI: local path is shown in GraphViewer. Now handling stereo odometry data.
This commit is contained in:
Mathieu Labbe
2015-02-03 11:09:10 -05:00
parent ee0051a585
commit ee885321aa
8 changed files with 168 additions and 23 deletions
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2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -120,6 +120,8 @@ public:
void clearPath();
std::list<std::pair<int, Transform> > computePath(int targetNode);
const std::vector<int> & getPath() const {return _path;}
std::list<std::pair<int, Transform> > getPathNextPoses() const;
std::vector<int> getPathNextNodes() const;
int getPathGoalId() const;
std::map<int, float> getNodesInRadius(int fromId, int maxNearestNeighbors, float radius) const;

4
corelib/include/rtabmap/core/Statistics.h
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@@ -140,6 +140,7 @@ public:
void setPosterior(const std::map<int, float> & posterior) {_posterior = posterior;}
void setLikelihood(const std::map<int, float> & likelihood) {_likelihood = likelihood;}
void setRawLikelihood(const std::map<int, float> & rawLikelihood) {_rawLikelihood = rawLikelihood;}
void setLocalPath(const std::vector<int> & localPath) {_localPath=localPath;}
// getters
bool extended() const {return _extended;}
@@ -158,6 +159,7 @@ public:
const std::map<int, float> & posterior() const {return _posterior;}
const std::map<int, float> & likelihood() const {return _likelihood;}
const std::map<int, float> & rawLikelihood() const {return _rawLikelihood;}
const std::vector<int> & localPath() const {return _localPath;}
const std::map<std::string, float> & data() const {return _data;}
@@ -184,6 +186,8 @@ private:
std::map<int, float> _likelihood;
std::map<int, float> _rawLikelihood;
std::vector<int> _localPath;
// Format for statistics (Plottable statistics must go in that map) :
// {"Group/Name/Unit", value}
// Example : {"Timing/Total time/ms", 500.0f}