Added mapIds to rtabmap::get3DMap()

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1644 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/Rtabmap.h

@@ -115,6 +115,7 @@ public:
 			std::map<int, Transform> & localTransforms,
 			std::map<int, Transform> & poses,
 			std::multimap<int, Link> & constraints,
+			std::map<int, int> & mapIds,
 			bool optimized,
 			bool global) const;
 	void getGraph(std::map<int, Transform> & poses,

corelib/include/rtabmap/core/RtabmapEvent.h

@@ -161,7 +161,8 @@ public:
 			const std::map<int, float> & depthCys,
 			const std::map<int, Transform> & localTransforms,
 			const std::map<int, Transform> & poses,
-			const std::multimap<int, Link> & constraints) :
+			const std::multimap<int, Link> & constraints,
+			const std::map<int, int> & mapIds) :
 		UEvent(0),
 		_images(images),
 		_depths(depths),
@@ -172,7 +173,8 @@ public:
 		_depthCys(depthCys),
 		_localTransforms(localTransforms),
 		_poses(poses),
-		_constraints(constraints)
+		_constraints(constraints),
+		_mapIds(mapIds)
 	{}
 
 	virtual ~RtabmapEvent3DMap() {}
@@ -187,6 +189,7 @@ public:
 	const std::map<int, Transform> & getLocalTransforms() const {return _localTransforms;}
 	const std::map<int, Transform> & getPoses() const {return _poses;}
 	const std::multimap<int, Link> & getConstraints() const {return _constraints;}
+	const std::map<int, int> & getMapIds() const {return _mapIds;}
 
 	virtual std::string getClassName() const {return std::string("RtabmapEvent3DMap");}
 
@@ -201,6 +204,7 @@ private:
 	std::map<int, Transform> _localTransforms;
 	std::map<int, Transform> _poses;
 	std::multimap<int, Link> _constraints;
+	std::map<int, int> _mapIds;
 };
 
 } // namespace rtabmap

corelib/src/Rtabmap.cpp

@@ -2177,6 +2177,7 @@ void Rtabmap::get3DMap(std::map<int, std::vector<unsigned char> > & images,
 		std::map<int, Transform> & localTransforms,
 		std::map<int, Transform> & poses,
 		std::multimap<int, Link> & constraints,
+		std::map<int, int> & mapIds,
 		bool optimized,
 		bool global) const
 {
@@ -2229,6 +2230,8 @@ void Rtabmap::get3DMap(std::map<int, std::vector<unsigned char> > & images,
 			{
 				localTransforms.insert(std::make_pair(*iter, localTransform));
 			}
+
+			mapIds.insert(std::make_pair(*iter, _memory->getMapId(*iter)));
 		}
 	}
 }

corelib/src/RtabmapThread.cpp

@@ -110,6 +110,7 @@ void RtabmapThread::publishMap(bool optimized, bool full) const
 	std::map<int, Transform> localTransforms;
 	std::map<int, Transform> poses;
 	std::multimap<int, Link> constraints;
+	std::map<int, int> mapIds;
 
 	_rtabmap->get3DMap(images,
 			depths,
@@ -121,6 +122,7 @@ void RtabmapThread::publishMap(bool optimized, bool full) const
 			localTransforms,
 			poses,
 			constraints,
+			mapIds,
 			optimized,
 			full);
 
@@ -133,7 +135,8 @@ void RtabmapThread::publishMap(bool optimized, bool full) const
 			depthCys,
 			localTransforms,
 			poses,
-			constraints));
+			constraints,
+			mapIds));
 }
 
 void RtabmapThread::publishTOROGraph(bool optimized, bool full) const
@@ -148,6 +151,7 @@ void RtabmapThread::publishTOROGraph(bool optimized, bool full) const
 	std::map<int, Transform> localTransforms;
 	std::map<int, Transform> poses;
 	std::multimap<int, Link> constraints;
+	std::map<int, int> mapIds;
 
 	_rtabmap->getGraph(poses,
 			constraints,
@@ -163,7 +167,8 @@ void RtabmapThread::publishTOROGraph(bool optimized, bool full) const
 			depthCys,
 			localTransforms,
 			poses,
-			constraints));
+			constraints,
+			mapIds));
 }