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Added script to reproduce results from loop closure detection paper. Added option to show Recall at 100% precision directly from rtabmap-console. Fixed retrieval not working on loop closure detection mode-only. Fixed showLogs.m error with Octave.

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matlabbe
2024-05-19 14:54:37 -07:00
parent 812caeeb9a
commit 256dcbded4
9 changed files with 264 additions and 70 deletions
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2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -151,6 +151,8 @@ public:
float getTimeThreshold() const {return _maxTimeAllowed;} // in ms
void setTimeThreshold(float maxTimeAllowed); // in ms
int getMemoryThreshold() const {return _maxMemoryAllowed;} // in nodes
void setMemoryThreshold(int maxMemoryAllowed); // in nodes
void setInitialPose(const Transform & initialPose);
int triggerNewMap();

70
corelib/src/Rtabmap.cpp
View File

@@ -2532,38 +2532,38 @@ bool Rtabmap::process(
// insert them first to make sure they are loaded.
reactivatedIds.insert(reactivatedIds.begin(), retrievalLocalIds.begin(), retrievalLocalIds.end());
}
//============================================================
// RETRIEVAL 3/3 : Load signatures from the database
//============================================================
if(reactivatedIds.size())
{
// Not important if the loop closure hypothesis don't have all its neighbors loaded,
// only a loop closure link is added...
signaturesRetrieved = _memory->reactivateSignatures(
reactivatedIds,
_maxRetrieved+(unsigned int)retrievalLocalIds.size(), // add path retrieved
timeRetrievalDbAccess);
ULOGGER_INFO("retrieval of %d (db time = %fs)", (int)signaturesRetrieved.size(), timeRetrievalDbAccess);
timeRetrievalDbAccess += timeGetNeighborsTimeDb + timeGetNeighborsSpaceDb;
UINFO("total timeRetrievalDbAccess=%fs", timeRetrievalDbAccess);
// Immunize just retrieved signatures
immunizedLocations.insert(signaturesRetrieved.begin(), signaturesRetrieved.end());
if(!signaturesRetrieved.empty() && !_globalScanMap.empty())
{
UWARN("Some signatures have been retrieved from memory management, clearing global scan map...");
_globalScanMap.clear();
_globalScanMapPoses.clear();
}
}
timeReactivations = timer.ticks();
ULOGGER_INFO("timeReactivations=%fs", timeReactivations);
}
//============================================================
// RETRIEVAL 3/3 : Load signatures from the database
//============================================================
if(reactivatedIds.size())
{
// Not important if the loop closure hypothesis don't have all its neighbors loaded,
// only a loop closure link is added...
signaturesRetrieved = _memory->reactivateSignatures(
reactivatedIds,
_maxRetrieved+(unsigned int)retrievalLocalIds.size(), // add path retrieved
timeRetrievalDbAccess);
ULOGGER_INFO("retrieval of %d (db time = %fs)", (int)signaturesRetrieved.size(), timeRetrievalDbAccess);
timeRetrievalDbAccess += timeGetNeighborsTimeDb + timeGetNeighborsSpaceDb;
UINFO("total timeRetrievalDbAccess=%fs", timeRetrievalDbAccess);
// Immunize just retrieved signatures
immunizedLocations.insert(signaturesRetrieved.begin(), signaturesRetrieved.end());
if(!signaturesRetrieved.empty() && !_globalScanMap.empty())
{
UWARN("Some signatures have been retrieved from memory management, clearing global scan map...");
_globalScanMap.clear();
_globalScanMapPoses.clear();
}
}
timeReactivations = timer.ticks();
ULOGGER_INFO("timeReactivations=%fs", timeReactivations);
//============================================================
// Proximity detections
//============================================================
@@ -4739,6 +4739,16 @@ void Rtabmap::setTimeThreshold(float maxTimeAllowed)
ULOGGER_WARN("Time threshold set to %fms, it is not in seconds!", _maxTimeAllowed);
}
}
void Rtabmap::setMemoryThreshold(int maxMemoryAllowed)
{
//must be positive, 0 mean inf memory allowed (no memory limit)
_maxMemoryAllowed = maxMemoryAllowed;
if(_maxMemoryAllowed < 0)
{
ULOGGER_WARN("maxMemoryAllowed < 0, then setting it to 0 (inf).");
_maxMemoryAllowed = 0;
}
}
void Rtabmap::setWorkingDirectory(std::string path)
{