refactoring: terms "current" and "full" changed for "local" and "global" respectively

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1122 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/Rtabmap.h

@@ -86,8 +86,8 @@ public:
 	void setTimeThreshold(float maxTimeAllowed); // in ms
 
 	void triggerNewMap();
-	void generateGraph(const std::string & path, int id=0, int margin=5);
-	void generateTOROGraph(const std::string & path, bool optimized, bool full);
+	void generateDOTGraph(const std::string & path, int id=0, int margin=5);
+	void generateTOROGraph(const std::string & path, bool optimized, bool global);
 	void resetMemory(bool dbOverwritten = false);
 	void dumpPrediction() const;
 	void dumpData() const;
@@ -104,7 +104,7 @@ public:
 			std::map<int, Transform> & poses,
 			std::multimap<int, Link> & constraints,
 			bool optimized,
-			bool full) const;
+			bool global) const;
 	void getGraph(std::map<int, Transform> & poses,
 			std::multimap<int, Link> & constraints,
 			bool optimized,

corelib/include/rtabmap/core/RtabmapEvent.h

@@ -52,16 +52,16 @@ public:
 			kCmdResetMemory,
 			kCmdDumpMemory,
 			kCmdDumpPrediction,
-			kCmdGenerateGraph, // params: path
-			kCmdGenerateLocalGraph, // params: path, id, margin
-			kCmdGenerateTOROGraph, // params: path, optimized
-			kCmdGenerateTOROGraphFull, // params: path, optimized
+			kCmdGenerateDOTGraph, // params: path
+			kCmdGenerateDOTLocalGraph, // params: path, id, margin
+			kCmdGenerateTOROGraphLocal, // params: path, optimized
+			kCmdGenerateTOROGraphGlobal, // params: path, optimized
 			kCmdDeleteMemory, // params: path [optional]
 			kCmdCleanDataBuffer,
-			kCmdPublish3DMap, // params: optimized
-			kCmdPublish3DMapFull, // params: optimized
-			kCmdPublishGraphFull, // params: optimized
-			kCmdPublishGraph, // params: optimized
+			kCmdPublish3DMapLocal, // params: optimized
+			kCmdPublish3DMapGlobal, // params: optimized
+			kCmdPublishTOROGraphGlobal, // params: optimized
+			kCmdPublishTOROGraphLocal, // params: optimized
 			kCmdTriggerNewMap,
 			kCmdPause};
 public:

corelib/include/rtabmap/core/RtabmapThread.h

@@ -51,16 +51,16 @@ public:
 		kStateChangingParameters,
 		kStateDumpingMemory,
 		kStateDumpingPrediction,
-		kStateGeneratingGraph,
-		kStateGeneratingLocalGraph,
-		kStateGeneratingTOROGraph,
-		kStateGeneratingTOROGraphFull,
+		kStateGeneratingDOTGraph,
+		kStateGeneratingDOTLocalGraph,
+		kStateGeneratingTOROGraphLocal,
+		kStateGeneratingTOROGraphGlobal,
 		kStateDeletingMemory,
 		kStateCleanDataBuffer,
-		kStatePublishingMap,
-		kStatePublishingMapFull,
-		kStatePublishingGraph,
-		kStatePublishingGraphFull,
+		kStatePublishingMapLocal,
+		kStatePublishingMapGlobal,
+		kStatePublishingTOROGraphLocal,
+		kStatePublishingTOROGraphGlobal,
 		Graph,
 		kStateTriggeringMap
 	};
@@ -83,7 +83,7 @@ private:
 	void pushNewState(State newState, const ParametersMap & parameters = ParametersMap());
 	void setDataBufferSize(int size);
 	void publishMap(bool optimized, bool full) const;
-	void publishGraph(bool optimized, bool full) const;
+	void publishTOROGraph(bool optimized, bool full) const;
 
 private:
 	UMutex _stateMutex;

corelib/src/Rtabmap.cpp

@@ -564,7 +564,7 @@ void Rtabmap::triggerNewMap()
 	}
 }
 
-void Rtabmap::generateGraph(const std::string & path, int id, int margin)
+void Rtabmap::generateDOTGraph(const std::string & path, int id, int margin)
 {
 	if(_memory)
 	{
@@ -596,7 +596,7 @@ void Rtabmap::generateGraph(const std::string & path, int id, int margin)
 	}
 }
 
-void Rtabmap::generateTOROGraph(const std::string & path, bool optimized, bool full)
+void Rtabmap::generateTOROGraph(const std::string & path, bool optimized, bool global)
 {
 	if(_memory && _memory->getLastWorkingSignature())
 	{
@@ -605,12 +605,12 @@ void Rtabmap::generateTOROGraph(const std::string & path, bool optimized, bool f
 
 		if(optimized)
 		{
-			this->optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), full, poses, &constraints);
+			this->optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), global, poses, &constraints);
 		}
 		else
 		{
-			std::map<int, int> ids = _memory->getNeighborsId(_memory->getLastWorkingSignature()->id(), 0, full?-1:0, true);
-			_memory->getMetricConstraints(uKeys(ids), poses, constraints, full);
+			std::map<int, int> ids = _memory->getNeighborsId(_memory->getLastWorkingSignature()->id(), 0, global?-1:0, true);
+			_memory->getMetricConstraints(uKeys(ids), poses, constraints, global);
 		}
 
 		util3d::saveTOROGraph(path, poses, constraints);
@@ -2110,23 +2110,23 @@ void Rtabmap::get3DMap(std::map<int, std::vector<unsigned char> > & images,
 		std::map<int, Transform> & poses,
 		std::multimap<int, Link> & constraints,
 		bool optimized,
-		bool full) const
+		bool global) const
 {
 	if(_memory && _memory->getLastWorkingSignature())
 	{
 		if(optimized)
 		{
-			this->optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), full, poses, &constraints);
+			this->optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), global, poses, &constraints);
 		}
 		else
 		{
-			std::map<int, int> ids = _memory->getNeighborsId(_memory->getLastWorkingSignature()->id(), 0, full?-1:0, true);
-			_memory->getMetricConstraints(uKeys(ids), poses, constraints, full);
+			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(full)
+		if(global)
 		{
 			ids = _memory->getAllSignatureIds(); // STM + WM + LTM
 		}

corelib/src/RtabmapThread.cpp

@@ -106,7 +106,7 @@ void RtabmapThread::publishMap(bool optimized, bool full) const
 			constraints));
 }
 
-void RtabmapThread::publishGraph(bool optimized, bool full) const
+void RtabmapThread::publishTOROGraph(bool optimized, bool full) const
 {
 	std::map<int, std::vector<unsigned char> > images;
 	std::map<int, std::vector<unsigned char> > depths;
@@ -178,16 +178,16 @@ void RtabmapThread::mainLoop()
 	case kStateDumpingPrediction:
 		_rtabmap->dumpPrediction();
 		break;
-	case kStateGeneratingGraph:
-		_rtabmap->generateGraph(parameters.at("path"));
+	case kStateGeneratingDOTGraph:
+		_rtabmap->generateDOTGraph(parameters.at("path"));
 		break;
-	case kStateGeneratingLocalGraph:
-		_rtabmap->generateGraph(parameters.at("path"), atoi(parameters.at("id").c_str()), atoi(parameters.at("margin").c_str()));
+	case kStateGeneratingDOTLocalGraph:
+		_rtabmap->generateDOTGraph(parameters.at("path"), atoi(parameters.at("id").c_str()), atoi(parameters.at("margin").c_str()));
 		break;
-	case kStateGeneratingTOROGraph:
+	case kStateGeneratingTOROGraphLocal:
 		_rtabmap->generateTOROGraph(parameters.at("path"), atoi(parameters.at("optimized").c_str())!=0, false);
 		break;
-	case kStateGeneratingTOROGraphFull:
+	case kStateGeneratingTOROGraphGlobal:
 		_rtabmap->generateTOROGraph(parameters.at("path"), atoi(parameters.at("optimized").c_str())!=0, true);
 		break;
 	case kStateDeletingMemory:
@@ -201,17 +201,17 @@ void RtabmapThread::mainLoop()
 	case kStateCleanDataBuffer:
 		this->clearBufferedData();
 		break;
-	case kStatePublishingMap:
+	case kStatePublishingMapLocal:
 		this->publishMap(atoi(parameters.at("optimized").c_str())!=0, false);
 		break;
-	case kStatePublishingMapFull:
+	case kStatePublishingMapGlobal:
 		this->publishMap(atoi(parameters.at("optimized").c_str())!=0, true);
 		break;
-	case kStatePublishingGraph:
-		this->publishGraph(atoi(parameters.at("optimized").c_str())!=0, false);
+	case kStatePublishingTOROGraphLocal:
+		this->publishTOROGraph(atoi(parameters.at("optimized").c_str())!=0, false);
 		break;
-	case kStatePublishingGraphFull:
-		this->publishGraph(atoi(parameters.at("optimized").c_str())!=0, true);
+	case kStatePublishingTOROGraphGlobal:
+		this->publishTOROGraph(atoi(parameters.at("optimized").c_str())!=0, true);
 		break;
 	case kStateTriggeringMap:
 		_rtabmap->triggerNewMap();
@@ -264,48 +264,48 @@ void RtabmapThread::handleEvent(UEvent* event)
 			ULOGGER_DEBUG("CMD_DUMP_PREDICTION");
 			pushNewState(kStateDumpingPrediction);
 		}
-		else if(cmd == RtabmapEventCmd::kCmdGenerateGraph)
+		else if(cmd == RtabmapEventCmd::kCmdGenerateDOTGraph)
 		{
 			UASSERT(!rtabmapEvent->getStr().empty());
 
-			ULOGGER_DEBUG("CMD_GENERATE_GRAPH");
+			ULOGGER_DEBUG("CMD_GENERATE_DOT_GRAPH");
 			ParametersMap param;
 			param.insert(ParametersPair("path", rtabmapEvent->getStr()));
-			pushNewState(kStateGeneratingGraph, param);
+			pushNewState(kStateGeneratingDOTGraph, param);
 		}
-		else if(cmd == RtabmapEventCmd::kCmdGenerateLocalGraph)
+		else if(cmd == RtabmapEventCmd::kCmdGenerateDOTLocalGraph)
 		{
 			std::list<std::string> values = uSplit(rtabmapEvent->getStr(), ';');
 			UASSERT(values.size() == 3);
 
-			ULOGGER_DEBUG("CMD_GENERATE_LOCAL_GRAPH");
+			ULOGGER_DEBUG("CMD_GENERATE_DOT_LOCAL_GRAPH");
 			ParametersMap param;
 			param.insert(ParametersPair("path", *values.begin()));
 			param.insert(ParametersPair("id", *(++values.begin())));
 			param.insert(ParametersPair("margin", *values.rbegin()));
-			pushNewState(kStateGeneratingLocalGraph, param);
+			pushNewState(kStateGeneratingDOTLocalGraph, param);
 
 		}
-		else if(cmd == RtabmapEventCmd::kCmdGenerateTOROGraph)
+		else if(cmd == RtabmapEventCmd::kCmdGenerateTOROGraphLocal)
 		{
 			UASSERT(!rtabmapEvent->getStr().empty());
 
-			ULOGGER_DEBUG("CMD_GENERATE_TORO_GRAPH");
+			ULOGGER_DEBUG("CMD_GENERATE_TORO_GRAPH_LOCAL");
 			ParametersMap param;
 			param.insert(ParametersPair("path", rtabmapEvent->getStr()));
 			param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
-			pushNewState(kStateGeneratingTOROGraph, param);
+			pushNewState(kStateGeneratingTOROGraphLocal, param);
 
 		}
-		else if(cmd == RtabmapEventCmd::kCmdGenerateTOROGraphFull)
+		else if(cmd == RtabmapEventCmd::kCmdGenerateTOROGraphGlobal)
 		{
 			UASSERT(!rtabmapEvent->getStr().empty());
 
-			ULOGGER_DEBUG("CMD_GENERATE_TORO_GRAPH_FULL");
+			ULOGGER_DEBUG("CMD_GENERATE_TORO_GRAPH_GLOBAL");
 			ParametersMap param;
 			param.insert(ParametersPair("path", rtabmapEvent->getStr()));
 			param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
-			pushNewState(kStateGeneratingTOROGraphFull, param);
+			pushNewState(kStateGeneratingTOROGraphGlobal, param);
 
 		}
 		else if(cmd == RtabmapEventCmd::kCmdDeleteMemory)
@@ -320,33 +320,33 @@ void RtabmapThread::handleEvent(UEvent* event)
 			ULOGGER_DEBUG("CMD_CLEAN_DATA_BUFFER");
 			pushNewState(kStateCleanDataBuffer);
 		}
-		else if(cmd == RtabmapEventCmd::kCmdPublish3DMap)
+		else if(cmd == RtabmapEventCmd::kCmdPublish3DMapLocal)
 		{
-			ULOGGER_DEBUG("CMD_PUBLISH_MAP");
+			ULOGGER_DEBUG("CMD_PUBLISH_MAP_LOCAL");
 			ParametersMap param;
 			param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
-			pushNewState(kStatePublishingMap, param);
+			pushNewState(kStatePublishingMapLocal, param);
 		}
-		else if(cmd == RtabmapEventCmd::kCmdPublish3DMapFull)
+		else if(cmd == RtabmapEventCmd::kCmdPublish3DMapGlobal)
 		{
-			ULOGGER_DEBUG("CMD_PUBLISH_MAP_FULL");
+			ULOGGER_DEBUG("CMD_PUBLISH_MAP_GLOBAL");
 			ParametersMap param;
 			param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
-			pushNewState(kStatePublishingMapFull, param);
+			pushNewState(kStatePublishingMapGlobal, param);
 		}
-		else if(cmd == RtabmapEventCmd::kCmdPublishGraph)
+		else if(cmd == RtabmapEventCmd::kCmdPublishTOROGraphLocal)
 		{
-			ULOGGER_DEBUG("CMD_PUBLISH_GRAPH");
+			ULOGGER_DEBUG("CMD_PUBLISH_TORO_GRAPH_LOCAL");
 			ParametersMap param;
 			param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
-			pushNewState(kStatePublishingGraph, param);
+			pushNewState(kStatePublishingTOROGraphLocal, param);
 		}
-		else if(cmd == RtabmapEventCmd::kCmdPublishGraphFull)
+		else if(cmd == RtabmapEventCmd::kCmdPublishTOROGraphGlobal)
 		{
-			ULOGGER_DEBUG("CMD_PUBLISH_GRAPH_FULL");
+			ULOGGER_DEBUG("CMD_PUBLISH_TORO_GRAPH_GLOBAL");
 			ParametersMap param;
 			param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
-			pushNewState(kStatePublishingGraphFull, param);
+			pushNewState(kStatePublishingTOROGraphGlobal, param);
 		}
 		else if(cmd == RtabmapEventCmd::kCmdTriggerNewMap)
 		{

examples/main.cpp

@@ -145,7 +145,7 @@ int main(int argc, char * argv[])
 	printf("Processing images completed. Loop closures found = %d\n", countLoopDetected);
 
 	// Generate a graph for visualization with Graphiz
-	rtabmap.generateGraph("Graph.dot");
+	rtabmap.generateDOTGraph("Graph.dot");
 	printf("Generated graph \"Graph.dot\", viewable with Graphiz using \"neato -Tpdf Graph.dot -o out.pdf\"\n");
 
 	// Cleanup... save database and logs

guilib/src/MainWindow.cpp

@@ -2260,7 +2260,7 @@ void MainWindow::generateMap()
 	if(!path.isEmpty())
 	{
 		_graphSavingFileName = path;
-		this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGenerateGraph, path.toStdString())); // The event is automatically deleted by the EventsManager...
+		this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGenerateDOTGraph, path.toStdString())); // The event is automatically deleted by the EventsManager...
 
 		_ui->dockWidget_console->show();
 		_ui->widget_console->appendMsg(QString("Graph saved... Tip:\nneato -Tpdf \"%1\" -o out.pdf").arg(_graphSavingFileName).arg(_graphSavingFileName));
@@ -2300,7 +2300,7 @@ void MainWindow::generateLocalMap()
 			{
 				_graphSavingFileName = path;
 				QString str = path + QString(";") + QString::number(id) + QString(";") + QString::number(margin);
-				this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGenerateLocalGraph, str.toStdString())); // The event is automatically deleted by the EventsManager...
+				this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGenerateDOTLocalGraph, str.toStdString())); // The event is automatically deleted by the EventsManager...
 
 				_ui->dockWidget_console->show();
 				_ui->widget_console->appendMsg(QString("Graph saved... Tip:\nneato -Tpdf \"%1\" -o out.pdf").arg(_graphSavingFileName).arg(_graphSavingFileName));
@@ -2317,31 +2317,31 @@ void MainWindow::generateTOROMap()
 	}
 
 	QStringList items;
-	items.append("Current map optimized");
-	items.append("Current map not optimized");
-	items.append("Full map optimized");
-	items.append("Full map not optimized");
+	items.append("Local map optimized");
+	items.append("Local map not optimized");
+	items.append("Global map optimized");
+	items.append("Global map not optimized");
 	bool ok;
 	QString item = QInputDialog::getItem(this, tr("Parameters"), tr("Options:"), items, 0, false, &ok);
 	if(ok)
 	{
-		bool optimized=false, full=false;
-		if(item.compare("Current map optimized") == 0)
+		bool optimized=false, global=false;
+		if(item.compare("Local map optimized") == 0)
 		{
 			optimized = true;
 		}
-		else if(item.compare("Current map not optimized") == 0)
+		else if(item.compare("Local map not optimized") == 0)
 		{
 
 		}
-		else if(item.compare("Full map optimized") == 0)
+		else if(item.compare("Global map optimized") == 0)
 		{
-			full=true;
+			global=true;
 			optimized=true;
 		}
-		else if(item.compare("Full map not optimized") == 0)
+		else if(item.compare("Global map not optimized") == 0)
 		{
-			full=true;
+			global=true;
 		}
 		else
 		{
@@ -2352,18 +2352,18 @@ void MainWindow::generateTOROMap()
 		if(!path.isEmpty())
 		{
 			_toroSavingFileName = path;
-			if(full)
+			if(global)
 			{
-				this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGenerateTOROGraphFull, path.toStdString(), optimized?1:0));
+				this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGenerateTOROGraphGlobal, path.toStdString(), optimized?1:0));
 			}
 			else
 			{
-				this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGenerateTOROGraph, path.toStdString(), optimized?1:0));
+				this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGenerateTOROGraphLocal, path.toStdString(), optimized?1:0));
 			}
 
 			_ui->dockWidget_console->show();
-			_ui->widget_console->appendMsg(QString("TORO Graph saved (full=%1, optimized=%2)... %3")
-					.arg(full?"true":"false").arg(optimized?"true":"false").arg(_toroSavingFileName));
+			_ui->widget_console->appendMsg(QString("TORO Graph saved (global=%1, optimized=%2)... %3")
+					.arg(global?"true":"false").arg(optimized?"true":"false").arg(_toroSavingFileName));
 		}
 
 	}
@@ -2478,37 +2478,37 @@ void MainWindow::downloadAllClouds()
 	bool showAll = _state != kMonitoringPaused && _state != kMonitoring;
 
 	QStringList items;
-	items.append("Current map optimized");
+	items.append("Local map optimized");
 	if(showAll)
 	{
-		items.append("Current map not optimized");
+		items.append("Local map not optimized");
 	}
-	items.append("Full map optimized");
+	items.append("Global map optimized");
 	if(showAll)
 	{
-		items.append("Full map not optimized");
+		items.append("Global map not optimized");
 	}
 	bool ok;
 	QString item = QInputDialog::getItem(this, tr("Parameters"), tr("Options:"), items, showAll?2:1, false, &ok);
 	if(ok)
 	{
-		bool optimized=false, full=false;
-		if(item.compare("Current map optimized") == 0)
+		bool optimized=false, global=false;
+		if(item.compare("Local map optimized") == 0)
 		{
 			optimized = true;
 		}
-		else if(item.compare("Current map not optimized") == 0)
+		else if(item.compare("Local map not optimized") == 0)
 		{
 
 		}
-		else if(item.compare("Full map optimized") == 0)
+		else if(item.compare("Global map optimized") == 0)
 		{
-			full=true;
+			global=true;
 			optimized=true;
 		}
-		else if(item.compare("Full map not optimized") == 0)
+		else if(item.compare("Global map not optimized") == 0)
 		{
-			full=true;
+			global=true;
 		}
 		else
 		{
@@ -2519,15 +2519,15 @@ void MainWindow::downloadAllClouds()
 		_initProgressDialog->setAutoClose(true, 1);
 		_initProgressDialog->resetProgress();
 		_initProgressDialog->show();
-		_initProgressDialog->appendText(tr("Downloading the map (full=%1 ,optimized=%2)...")
-				.arg(full?"true":"false").arg(optimized?"true":"false"));
-		if(full)
+		_initProgressDialog->appendText(tr("Downloading the map (global=%1 ,optimized=%2)...")
+				.arg(global?"true":"false").arg(optimized?"true":"false"));
+		if(global)
 		{
-			this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublish3DMapFull, optimized?1:0));
+			this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublish3DMapGlobal, optimized?1:0));
 		}
 		else
 		{
-			this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublish3DMap, optimized?1:0));
+			this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublish3DMapLocal, optimized?1:0));
 		}
 	}
 }
@@ -2537,37 +2537,37 @@ void MainWindow::downloadPoseGraph()
 	bool showAll = _state != kMonitoringPaused && _state != kMonitoring;
 
 	QStringList items;
-	items.append("Current map optimized");
+	items.append("Local map optimized");
 	if(showAll)
 	{
-		items.append("Current map not optimized");
+		items.append("Local map not optimized");
 	}
-	items.append("Full map optimized");
+	items.append("Global map optimized");
 	if(showAll)
 	{
-		items.append("Full map not optimized");
+		items.append("Global map not optimized");
 	}
 	bool ok;
 	QString item = QInputDialog::getItem(this, tr("Parameters"), tr("Options:"), items, showAll?2:1, false, &ok);
 	if(ok)
 	{
-		bool optimized=false, full=false;
-		if(item.compare("Current map optimized") == 0)
+		bool optimized=false, global=false;
+		if(item.compare("Local map optimized") == 0)
 		{
 			optimized = true;
 		}
-		else if(item.compare("Current map not optimized") == 0)
+		else if(item.compare("Local map not optimized") == 0)
 		{
 
 		}
-		else if(item.compare("Full map optimized") == 0)
+		else if(item.compare("Global map optimized") == 0)
 		{
-			full=true;
+			global=true;
 			optimized=true;
 		}
-		else if(item.compare("Full map not optimized") == 0)
+		else if(item.compare("Global map not optimized") == 0)
 		{
-			full=true;
+			global=true;
 		}
 		else
 		{
@@ -2578,15 +2578,15 @@ void MainWindow::downloadPoseGraph()
 		_initProgressDialog->setAutoClose(true, 1);
 		_initProgressDialog->resetProgress();
 		_initProgressDialog->show();
-		_initProgressDialog->appendText(tr("Downloading the graph (full=%1 ,optimized=%2)...")
-				.arg(full?"true":"false").arg(optimized?"true":"false"));
-		if(full)
+		_initProgressDialog->appendText(tr("Downloading the graph (global=%1 ,optimized=%2)...")
+				.arg(global?"true":"false").arg(optimized?"true":"false"));
+		if(global)
 		{
-			this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublishGraphFull, optimized?1:0));
+			this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublishTOROGraphGlobal, optimized?1:0));
 		}
 		else
 		{
-			this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublishGraph, optimized?1:0));
+			this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublishTOROGraphLocal, optimized?1:0));
 		}
 	}
 }