i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added Mem/ImageCompressionFormat parameter (default .jpg)

Browse Source
This commit is contained in:
matlabbe
2019-02-11 15:23:38 -05:00
parent 99944b1d49
commit 38b8746507
5 changed files with 118 additions and 142 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
corelib/include/rtabmap/core/Memory.h
View File

@@ -287,6 +287,7 @@ private:
bool _saveDepth16Format; bool _saveDepth16Format;
bool _notLinkedNodesKeptInDb; bool _notLinkedNodesKeptInDb;
bool _saveIntermediateNodeData; bool _saveIntermediateNodeData;
std::string _rgbCompressionFormat;
bool _incrementalMemory; bool _incrementalMemory;
bool _reduceGraph; bool _reduceGraph;
int _maxStMemSize; int _maxStMemSize;

1
corelib/include/rtabmap/core/Parameters.h
View File

@@ -204,6 +204,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, SaveDepth16Format, bool, false, "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters)."); RTABMAP_PARAM(Mem, SaveDepth16Format, bool, false, "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).");
RTABMAP_PARAM(Mem, NotLinkedNodesKept, bool, true, "Keep not linked nodes in db (rehearsed nodes and deleted nodes)."); RTABMAP_PARAM(Mem, NotLinkedNodesKept, bool, true, "Keep not linked nodes in db (rehearsed nodes and deleted nodes).");
RTABMAP_PARAM(Mem, IntermediateNodeDataKept, bool, false, "Keep intermediate node data in db."); RTABMAP_PARAM(Mem, IntermediateNodeDataKept, bool, false, "Keep intermediate node data in db.");
RTABMAP_PARAM_STR(Mem, ImageCompressionFormat, ".jpg", "RGB image compression format. It should be \".jpg\" or \".png\".");
RTABMAP_PARAM(Mem, STMSize, unsigned int, 10, "Short-term memory size."); RTABMAP_PARAM(Mem, STMSize, unsigned int, 10, "Short-term memory size.");
RTABMAP_PARAM(Mem, IncrementalMemory, bool, true, "SLAM mode, otherwise it is Localization mode."); RTABMAP_PARAM(Mem, IncrementalMemory, bool, true, "SLAM mode, otherwise it is Localization mode.");
RTABMAP_PARAM(Mem, ReduceGraph, bool, false, "Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set)."); RTABMAP_PARAM(Mem, ReduceGraph, bool, false, "Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set).");

10
corelib/src/Memory.cpp
View File

@@ -77,6 +77,7 @@ Memory::Memory(const ParametersMap & parameters) :
_saveDepth16Format(Parameters::defaultMemSaveDepth16Format()), _saveDepth16Format(Parameters::defaultMemSaveDepth16Format()),
_notLinkedNodesKeptInDb(Parameters::defaultMemNotLinkedNodesKept()), _notLinkedNodesKeptInDb(Parameters::defaultMemNotLinkedNodesKept()),
_saveIntermediateNodeData(Parameters::defaultMemIntermediateNodeDataKept()), _saveIntermediateNodeData(Parameters::defaultMemIntermediateNodeDataKept()),
_rgbCompressionFormat(Parameters::defaultMemImageCompressionFormat()),
_incrementalMemory(Parameters::defaultMemIncrementalMemory()), _incrementalMemory(Parameters::defaultMemIncrementalMemory()),
_reduceGraph(Parameters::defaultMemReduceGraph()), _reduceGraph(Parameters::defaultMemReduceGraph()),
_maxStMemSize(Parameters::defaultMemSTMSize()), _maxStMemSize(Parameters::defaultMemSTMSize()),
@@ -532,6 +533,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(params, Parameters::kMemReduceGraph(), _reduceGraph); Parameters::parse(params, Parameters::kMemReduceGraph(), _reduceGraph);
Parameters::parse(params, Parameters::kMemNotLinkedNodesKept(), _notLinkedNodesKeptInDb); Parameters::parse(params, Parameters::kMemNotLinkedNodesKept(), _notLinkedNodesKeptInDb);
Parameters::parse(params, Parameters::kMemIntermediateNodeDataKept(), _saveIntermediateNodeData); Parameters::parse(params, Parameters::kMemIntermediateNodeDataKept(), _saveIntermediateNodeData);
Parameters::parse(params, Parameters::kMemImageCompressionFormat(), _rgbCompressionFormat);
Parameters::parse(params, Parameters::kMemRehearsalIdUpdatedToNewOne(), _idUpdatedToNewOneRehearsal); Parameters::parse(params, Parameters::kMemRehearsalIdUpdatedToNewOne(), _idUpdatedToNewOneRehearsal);
Parameters::parse(params, Parameters::kMemGenerateIds(), _generateIds); Parameters::parse(params, Parameters::kMemGenerateIds(), _generateIds);
Parameters::parse(params, Parameters::kMemBadSignaturesIgnored(), _badSignaturesIgnored); Parameters::parse(params, Parameters::kMemBadSignaturesIgnored(), _badSignaturesIgnored);
@@ -4758,8 +4760,8 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
cv::Mat compressedUserData; cv::Mat compressedUserData;
if(_compressionParallelized) if(_compressionParallelized)
{ {
rtabmap::CompressionThread ctImage(image, std::string(".jpg")); rtabmap::CompressionThread ctImage(image, _rgbCompressionFormat);
rtabmap::CompressionThread ctDepth(depthOrRightImage, std::string(".png")); rtabmap::CompressionThread ctDepth(depthOrRightImage, depthOrRightImage.type() == CV_32FC1 || depthOrRightImage.type() == CV_16UC1?std::string(".png"):_rgbCompressionFormat);
rtabmap::CompressionThread ctLaserScan(laserScan.data()); rtabmap::CompressionThread ctLaserScan(laserScan.data());
rtabmap::CompressionThread ctUserData(data.userDataRaw()); rtabmap::CompressionThread ctUserData(data.userDataRaw());
if(!image.empty()) if(!image.empty())
@@ -4790,8 +4792,8 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
} }
else else
{ {
compressedImage = compressImage2(image, std::string(".jpg")); compressedImage = compressImage2(image, _rgbCompressionFormat);
compressedDepth = compressImage2(depthOrRightImage, depthOrRightImage.type() == CV_32FC1 || depthOrRightImage.type() == CV_16UC1?std::string(".png"):std::string(".jpg")); compressedDepth = compressImage2(depthOrRightImage, depthOrRightImage.type() == CV_32FC1 || depthOrRightImage.type() == CV_16UC1?std::string(".png"):_rgbCompressionFormat);
compressedScan = compressData2(laserScan.data()); compressedScan = compressData2(laserScan.data());
compressedUserData = compressData2(data.userDataRaw()); compressedUserData = compressData2(data.userDataRaw());
} }

1
guilib/src/PreferencesDialog.cpp
View File

@@ -720,6 +720,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->general_checkBox_keepRawData->setObjectName(Parameters::kMemImageKept().c_str()); _ui->general_checkBox_keepRawData->setObjectName(Parameters::kMemImageKept().c_str());
_ui->general_checkBox_keepBinaryData->setObjectName(Parameters::kMemBinDataKept().c_str()); _ui->general_checkBox_keepBinaryData->setObjectName(Parameters::kMemBinDataKept().c_str());
_ui->general_checkBox_saveIntermediateNodeData->setObjectName(Parameters::kMemIntermediateNodeDataKept().c_str()); _ui->general_checkBox_saveIntermediateNodeData->setObjectName(Parameters::kMemIntermediateNodeDataKept().c_str());
_ui->lineEdit_rgbCompressionFormat->setObjectName(Parameters::kMemImageCompressionFormat().c_str());
_ui->general_checkBox_keepDescriptors->setObjectName(Parameters::kMemRawDescriptorsKept().c_str()); _ui->general_checkBox_keepDescriptors->setObjectName(Parameters::kMemRawDescriptorsKept().c_str());
_ui->general_checkBox_saveDepth16bits->setObjectName(Parameters::kMemSaveDepth16Format().c_str()); _ui->general_checkBox_saveDepth16bits->setObjectName(Parameters::kMemSaveDepth16Format().c_str());
_ui->general_checkBox_compressionParallelized->setObjectName(Parameters::kMemCompressionParallelized().c_str()); _ui->general_checkBox_compressionParallelized->setObjectName(Parameters::kMemCompressionParallelized().c_str());

247
guilib/src/ui/preferencesDialog.ui
View File

@@ -94,25 +94,16 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>-1939</y> <y>0</y>
<width>680</width> <width>673</width>
<height>2986</height> <height>2979</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_16"> <layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -126,7 +117,7 @@
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
</property> </property>
<property name="currentIndex"> <property name="currentIndex">
<number>5</number> <number>10</number>
</property> </property>
<widget class="QWidget" name="page_22"> <widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1"> <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -5150,16 +5141,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Directory of images (optional settings)</string> <string>Directory of images (optional settings)</string>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_93"> <layout class="QVBoxLayout" name="verticalLayout_93">
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -8397,37 +8379,7 @@ When set to false, no new words are added to dictionary, so no more updates are
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="0"> <item row="5" column="0">
<widget class="QSpinBox" name="spinBox_dbCacheSize">
<property name="minimum">
<number>10</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>100</number>
</property>
<property name="value">
<number>2000</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_75">
<property name="text">
<string>Sqlite3 cache size,
see Sqlite3 doc 'PRAGMA cache_size'.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QComboBox" name="comboBox_dbJournalMode"> <widget class="QComboBox" name="comboBox_dbJournalMode">
<item> <item>
<property name="text"> <property name="text">
@@ -8456,20 +8408,6 @@ see Sqlite3 doc 'PRAGMA cache_size'.</string>
</item> </item>
</widget> </widget>
</item> </item>
<item row="4" column="1">
<widget class="QLabel" name="label_77">
<property name="text">
<string>Sqlite3 journal mode,
see Sqlite3 doc 'PRAGMA journal_mode'.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1"> <item row="2" column="1">
<widget class="QLabel" name="label_74"> <widget class="QLabel" name="label_74">
<property name="text"> <property name="text">
@@ -8483,21 +8421,7 @@ see Sqlite3 doc 'PRAGMA journal_mode'.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="1"> <item row="7" column="1">
<widget class="QLabel" name="label_89">
<property name="text">
<string>Sqlite3 synchronous,
see Sqlite3 doc 'PRAGMA synchronous'.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_120"> <widget class="QLabel" name="label_120">
<property name="text"> <property name="text">
<string>Sqlite3 temp store, <string>Sqlite3 temp store,
@@ -8511,7 +8435,94 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="0"> <item row="7" column="0">
<widget class="QComboBox" name="comboBox_dbTempStore">
<item>
<property name="text">
<string>DEFAULT</string>
</property>
</item>
<item>
<property name="text">
<string>FILE</string>
</property>
</item>
<item>
<property name="text">
<string>MEMORY</string>
</property>
</item>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="general_checkBox_keepNotLinkedNodes">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="spinBox_dbCacheSize">
<property name="minimum">
<number>10</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>100</number>
</property>
<property name="value">
<number>2000</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_75">
<property name="text">
<string>Sqlite3 cache size,
see Sqlite3 doc 'PRAGMA cache_size'.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_77">
<property name="text">
<string>Sqlite3 journal mode,
see Sqlite3 doc 'PRAGMA journal_mode'.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_89">
<property name="text">
<string>Sqlite3 synchronous,
see Sqlite3 doc 'PRAGMA synchronous'.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QComboBox" name="comboBox_dbSynchronous"> <widget class="QComboBox" name="comboBox_dbSynchronous">
<property name="currentIndex"> <property name="currentIndex">
<number>2</number> <number>2</number>
@@ -8533,25 +8544,6 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
</item> </item>
</widget> </widget>
</item> </item>
<item row="6" column="0">
<widget class="QComboBox" name="comboBox_dbTempStore">
<item>
<property name="text">
<string>DEFAULT</string>
</property>
</item>
<item>
<property name="text">
<string>FILE</string>
</property>
</item>
<item>
<property name="text">
<string>MEMORY</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1"> <item row="1" column="1">
<widget class="QLabel" name="label_keepRehearsed"> <widget class="QLabel" name="label_keepRehearsed">
<property name="text"> <property name="text">
@@ -8565,16 +8557,22 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="0"> <item row="3" column="1">
<widget class="QCheckBox" name="general_checkBox_keepNotLinkedNodes"> <widget class="QLabel" name="label_299">
<property name="text"> <property name="text">
<string/> <string>RGB image compression format (should be &quot;.jpg&quot; or &quot;.png&quot;).</string>
</property> </property>
<property name="checked"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>
</property> </property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget> </widget>
</item> </item>
<item row="3" column="0">
<widget class="QLineEdit" name="lineEdit_rgbCompressionFormat"/>
</item>
</layout> </layout>
</widget> </widget>
</item> </item>
@@ -15463,16 +15461,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -15552,16 +15541,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -15673,16 +15653,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>