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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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2
guilib/src/DataRecorder.cpp
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@@ -73,6 +73,7 @@ bool DataRecorder::init(const QString & path, bool recordInRAM)
customParameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
customParameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), "-1")); // desactivate keypoints extraction
customParameters.insert(ParametersPair(Parameters::kMemBinDataKept(), "true")); // to keep images
customParameters.insert(ParametersPair(Parameters::kMemBadSignaturesIgnored(), "true")); // make usre memory cleanup is done
if(!recordInRAM)
{
customParameters.insert(ParametersPair(Parameters::kDbSqlite3InMemory(), "false"));
@@ -138,6 +139,7 @@ void DataRecorder::addData(const rtabmap::SensorData & data, const Transform & p
const Signature * s = memory_->getLastWorkingSignature();
totalSizeKB_ += (int)s->sensorData().imageCompressed().total()/1000;
totalSizeKB_ += (int)s->sensorData().depthOrRightCompressed().total()/1000;
totalSizeKB_ += (int)s->sensorData().laserScanCompressed().total()/1000;
memory_->cleanup();
if(++count_ % 30)