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rtabmap: fixed support of fixed memory and fixed dictionary (localization-only mode from an already built database) -> updated rtabmap example with "-l" option for localization mode

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@878 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-06-06 13:41:49 +00:00
parent 504e51db12
commit 30ab6dca0e
4 changed files with 133 additions and 100 deletions
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corelib/src/Memory.cpp
+16 -8
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@@ -435,10 +435,13 @@ bool Memory::update(const Image & image, std::map<std::string, float> & stats)
// signature like a parent to the memory tree, otherwise add
// it as a child to the similar signature.
//============================================================
this->rehearsal(signature, stats);
t=timer.ticks()*1000;
stats.insert(std::pair<std::string, float>(std::string("TimingMem/Rehearsal/ms"), t));
ULOGGER_DEBUG("time rehearsal=%f ms", t);
if(_incrementalMemory)
{
this->rehearsal(signature, stats);
t=timer.ticks()*1000;
stats.insert(std::pair<std::string, float>(std::string("TimingMem/Rehearsal/ms"), t));
ULOGGER_DEBUG("time rehearsal=%f ms", t);
}
//============================================================
// Transfer the oldest signature of the short-term memory to the working memory
@@ -451,7 +454,7 @@ bool Memory::update(const Image & image, std::map<std::string, float> & stats)
++_signaturesAdded;
}
if(!_memoryChanged)
if(!_memoryChanged && _incrementalMemory)
{
_memoryChanged = true;
}
@@ -1138,7 +1141,7 @@ int Memory::cleanup(const std::list<int> & ignoredIds)
// bad signature
if(_lastSignature->isBadSignature() || !_incrementalMemory)
{
moveToTrash(_lastSignature);
moveToTrash(_lastSignature, _incrementalMemory);
++signaturesRemoved;
}
@@ -1359,7 +1362,7 @@ void Memory::moveToTrash(Signature * s, bool saveToDatabase)
// Remove neighbor links with bad signatures (assuming that is done in cleanup),
// the bad signatures are always the last signature added.
if(s->isBadSignature())
if(s->isBadSignature() || !saveToDatabase)
{
const std::set<int> & neighbors = s->getNeighbors();
for(std::set<int>::const_iterator iter=neighbors.begin(); iter!=neighbors.end(); ++iter)
@@ -1466,7 +1469,7 @@ bool Memory::addLoopClosureLink(int oldId, int newId)
ULOGGER_INFO("old=%d, new=%d", oldId, newId);
Signature * oldS = _getSignature(oldId);
Signature * newS = _getSignature(newId);
if(oldS && newS)
if(oldS && newS && _incrementalMemory)
{
const std::set<int> & oldLoopclosureIds = oldS->getLoopClosureIds();
if(oldLoopclosureIds.size() && oldLoopclosureIds.find(newS->id()) != oldLoopclosureIds.end())
@@ -1612,6 +1615,11 @@ bool Memory::addLoopClosureLink(int oldId, int newId)
{
UERROR("newId=%d, oldId=%d, Signature %d not found in working/st memories", newId, oldId, oldId);
}
if(oldS && newS && !_incrementalMemory)
{
// Accept loop closure while we don't add a link
return true;
}
}
return false;
}