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Update version 0.10.11:

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-Added parameter "Mem/ReduceGraph" with new link type (NeighborMerged)
-DatabaseViewer: add Info panel, fixed empty extracted database when "RGB images" is not checked
-ConsoleWidget: added buffer size and refresh rate options
-DBDriver: new database info getters
-Graph: added reduceGraph() method, added Dijsktra computePath() with links only
-Updated default parameters: RGBD/LocalLoopDetectionSpace=true, RGBD/LinearUpdate=0.1 and RGBD/AngularUpdate=0.1
-Goals are saved with label instead of ID if the target node has a label
-DataRecorder: fixed saving incrementally the database (instead of only at the end)
-MainWindow: When waypoints are used, resend the current goal (1 sec delay) if it has failed setting it
This commit is contained in:
matlabbe
2015-10-24 17:03:44 -04:00
parent 957498b5a3
commit 463a5d973c
32 changed files with 1820 additions and 314 deletions
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101
corelib/src/DBDriver.cpp
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@@ -106,6 +106,79 @@ long DBDriver::getMemoryUsed() const
return bytes;
}
long DBDriver::getImagesMemoryUsed() const
{
long bytes;
_dbSafeAccessMutex.lock();
bytes = getImagesMemoryUsedQuery();
_dbSafeAccessMutex.unlock();
return bytes;
}
long DBDriver::getDepthImagesMemoryUsed() const
{
long bytes;
_dbSafeAccessMutex.lock();
bytes = getDepthImagesMemoryUsedQuery();
_dbSafeAccessMutex.unlock();
return bytes;
}
long DBDriver::getLaserScansMemoryUsed() const
{
long bytes;
_dbSafeAccessMutex.lock();
bytes = getLaserScansMemoryUsedQuery();
_dbSafeAccessMutex.unlock();
return bytes;
}
long DBDriver::getUserDataMemoryUsed() const
{
long bytes;
_dbSafeAccessMutex.lock();
bytes = getUserDataMemoryUsedQuery();
_dbSafeAccessMutex.unlock();
return bytes;
}
long DBDriver::getWordsMemoryUsed() const
{
long bytes;
_dbSafeAccessMutex.lock();
bytes = getWordsMemoryUsedQuery();
_dbSafeAccessMutex.unlock();
return bytes;
}
int DBDriver::getLastNodesSize() const
{
int nodes;
_dbSafeAccessMutex.lock();
nodes = getLastNodesSizeQuery();
_dbSafeAccessMutex.unlock();
return nodes;
}
int DBDriver::getLastDictionarySize() const
{
int words;
_dbSafeAccessMutex.lock();
words = getLastDictionarySizeQuery();
_dbSafeAccessMutex.unlock();
return words;
}
int DBDriver::getTotalNodesSize() const
{
int words;
_dbSafeAccessMutex.lock();
words = getTotalNodesSizeQuery();
_dbSafeAccessMutex.unlock();
return words;
}
int DBDriver::getTotalDictionarySize() const
{
int words;
_dbSafeAccessMutex.lock();
words = getTotalDictionarySizeQuery();
_dbSafeAccessMutex.unlock();
return words;
}
std::string DBDriver::getDatabaseVersion() const
{
std::string version = "0.0.0";
@@ -473,7 +546,8 @@ void DBDriver::getNodeData(
}
}
bool DBDriver::getNodeInfo(int signatureId,
bool DBDriver::getNodeInfo(
int signatureId,
Transform & pose,
int & mapId,
int & weight,
@@ -568,7 +642,8 @@ void DBDriver::getAllNodeIds(std::set<int> & ids, bool ignoreChildren) const
nIter!=sIter->second->getLinks().end();
++nIter)
{
if(nIter->second.type() == Link::kNeighbor)
if(nIter->second.type() == Link::kNeighbor ||
nIter->second.type() == Link::kNeighborMerged)
{
hasNeighbors = true;
break;
@@ -778,7 +853,8 @@ void DBDriver::generateGraph(
const char * colorG = "green";
const char * colorP = "pink";
; UINFO("Generating map with %d locations", ids.size());
const char * colorNM = "blue";
UINFO("Generating map with %d locations", ids.size());
fprintf(fout, "digraph G {\n");
for(std::set<int>::iterator i=ids.begin(); i!=ids.end(); ++i)
{
@@ -809,6 +885,16 @@ void DBDriver::generateGraph(
iter->first,
weightNeighbor);
}
else if(iter->second.type() == Link::kNeighborMerged)
{
//merged neighbor
fprintf(fout, " \"%d\\n%d\" -> \"%d\\n%d\" [label=\"M\", fontcolor=%s, fontsize=8];\n",
id,
weight,
iter->first,
weightNeighbor,
colorNM);
}
else if(iter->first > id)
{
//loop
@@ -860,6 +946,15 @@ void DBDriver::generateGraph(
iter->first,
weightNeighbor);
}
else if(iter->second.type() == Link::kNeighborMerged)
{
fprintf(fout, " \"%d\\n%d\" -> \"%d\\n%d\" [label=\"M\", fontcolor=%s, fontsize=8];\n",
id,
weight,
iter->first,
weightNeighbor,
colorNM);
}
else if(iter->first > id)
{
//loop