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ExternalLoopExample: adding all nodes from all sessions in cache

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matlabbe
2020-06-25 13:55:07 -04:00
parent 83c40d079d
commit 8186dd6dc8
1 changed files with 8 additions and 11 deletions
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src/ExternalLoopDetectionExample.cpp
-3
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@@ -200,8 +200,6 @@ int main(int argc, char** argv)
rtabmap_ros::mapGraphFromROS(mapRes.data.graph, poses, links, mapToOdom); rtabmap_ros::mapGraphFromROS(mapRes.data.graph, poses, links, mapToOdom);
int addedNodes = 0; int addedNodes = 0;
for(size_t i=0; i<mapRes.data.nodes.size(); ++i) for(size_t i=0; i<mapRes.data.nodes.size(); ++i)
{
if(poses.find(mapRes.data.nodes.at(i).id) != poses.end())
{ {
rtabmap::Signature s = rtabmap_ros::nodeDataFromROS(mapRes.data.nodes.at(i)); rtabmap::Signature s = rtabmap_ros::nodeDataFromROS(mapRes.data.nodes.at(i));
rtabmap::SensorData compressedData = s.sensorData(); rtabmap::SensorData compressedData = s.sensorData();
@@ -214,7 +212,6 @@ int main(int argc, char** argv)
++addedNodes; ++addedNodes;
} }
} }
}
ROS_INFO("Added %d/%d nodes to memory! Vocabulary size=%d", ROS_INFO("Added %d/%d nodes to memory! Vocabulary size=%d",
addedNodes, addedNodes,
(int)mapRes.data.nodes.size(), (int)mapRes.data.nodes.size(),