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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
+8 -11
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@@ -201,18 +201,15 @@ int main(int argc, char** argv)
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::SensorData compressedData = s.sensorData();
s.sensorData().uncompressData();
if(loopClosureDetector.process(s.sensorData(), rtabmap::Transform()))
{ {
rtabmap::Signature s = rtabmap_ros::nodeDataFromROS(mapRes.data.nodes.at(i)); localData.insert(std::make_pair(
rtabmap::SensorData compressedData = s.sensorData(); loopClosureDetector.getStatistics().getLastSignatureData().id(),
s.sensorData().uncompressData(); compressedData));
if(loopClosureDetector.process(s.sensorData(), rtabmap::Transform())) ++addedNodes;
{
localData.insert(std::make_pair(
loopClosureDetector.getStatistics().getLastSignatureData().id(),
compressedData));
++addedNodes;
}
} }
} }
ROS_INFO("Added %d/%d nodes to memory! Vocabulary size=%d", ROS_INFO("Added %d/%d nodes to memory! Vocabulary size=%d",