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DatabaseViewer: added exporting of a specific session with or without user_data. MainWindow: added action to send goal to rtabmap. Rtabmap: Saving goals in user_data of the current signature, modified parameter Mem/RehearsedNodesKept to Mem/NotLinkedNodesKept. DBReader: added sending goals when detected while playing back a database.

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This commit is contained in:
Mathieu Labbe
2015-04-17 18:30:12 -04:00
parent b48bd7cf70
commit 5700c14bcb
25 changed files with 325 additions and 49 deletions
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corelib/src/Memory.cpp
+8 -8
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@@ -59,7 +59,7 @@ Memory::Memory(const ParametersMap & parameters) :
_similarityThreshold(Parameters::defaultMemRehearsalSimilarity()),
_rawDataKept(Parameters::defaultMemImageKept()),
_binDataKept(Parameters::defaultMemBinDataKept()),
_keepRehearsedNodesInDb(Parameters::defaultMemRehearsedNodesKept()),
_notLinkedNodesKeptInDb(Parameters::defaultMemNotLinkedNodesKept()),
_incrementalMemory(Parameters::defaultMemIncrementalMemory()),
_maxStMemSize(Parameters::defaultMemSTMSize()),
_recentWmRatio(Parameters::defaultMemRecentWmRatio()),
@@ -379,7 +379,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kMemImageKept(), _rawDataKept);
Parameters::parse(parameters, Parameters::kMemBinDataKept(), _binDataKept);
Parameters::parse(parameters, Parameters::kMemRehearsedNodesKept(), _keepRehearsedNodesInDb);
Parameters::parse(parameters, Parameters::kMemNotLinkedNodesKept(), _notLinkedNodesKeptInDb);
Parameters::parse(parameters, Parameters::kMemRehearsalIdUpdatedToNewOne(), _idUpdatedToNewOneRehearsal);
Parameters::parse(parameters, Parameters::kMemGenerateIds(), _generateIds);
Parameters::parse(parameters, Parameters::kMemBadSignaturesIgnored(), _badSignaturesIgnored);
@@ -1499,13 +1499,13 @@ std::list<Signature *> Memory::getRemovableSignatures(int count, const std::set<
/**
* If saveToDatabase=false, deleted words are filled in deletedWords.
*/
void Memory::moveToTrash(Signature * s, bool saveToDatabase, std::list<int> * deletedWords)
void Memory::moveToTrash(Signature * s, bool keepLinkedToGraph, std::list<int> * deletedWords)
{
UDEBUG("id=%d", s?s->id():0);
if(s)
{
// If not saved to database or it is a bad signature (not saved), remove links!
if(!saveToDatabase || (!s->isSaved() && s->isBadSignature() && _badSignaturesIgnored))
if(!keepLinkedToGraph || (!s->isSaved() && s->isBadSignature() && _badSignaturesIgnored))
{
UASSERT_MSG(this->isInSTM(s->id()),
uFormat("Deleting location (%d) outside the STM is not implemented!", s->id()).c_str());
@@ -1537,6 +1537,7 @@ void Memory::moveToTrash(Signature * s, bool saveToDatabase, std::list<int> * de
}
s->removeLinks(); // remove all links
s->setWeight(0);
s->setLabel(""); // reset label
}
else
{
@@ -1561,7 +1562,7 @@ void Memory::moveToTrash(Signature * s, bool saveToDatabase, std::list<int> * de
}
this->disableWordsRef(s->id());
if(!saveToDatabase)
if(!keepLinkedToGraph)
{
std::list<int> keys = uUniqueKeys(s->getWords());
for(std::list<int>::const_iterator i=keys.begin(); i!=keys.end(); ++i)
@@ -1599,7 +1600,7 @@ void Memory::moveToTrash(Signature * s, bool saveToDatabase, std::list<int> * de
}
}
if( saveToDatabase &&
if( (_notLinkedNodesKeptInDb || keepLinkedToGraph) &&
_dbDriver &&
s->id()>0)
{
@@ -2711,8 +2712,7 @@ bool Memory::rehearsalMerge(int oldId, int newId)
}
// remove location
bool saveToDb = _keepRehearsedNodesInDb;
moveToTrash(_idUpdatedToNewOneRehearsal?oldS:newS, saveToDb);
moveToTrash(_idUpdatedToNewOneRehearsal?oldS:newS, _notLinkedNodesKeptInDb);
return true;
}