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refactoring: terms "current" and "full" changed for "local" and "global" respectively

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1122 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-02-17 22:58:46 +00:00
parent 260493ac8f
commit 5dbf6678ce
7 changed files with 118 additions and 118 deletions
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20
corelib/src/Rtabmap.cpp
View File

@@ -564,7 +564,7 @@ void Rtabmap::triggerNewMap()
}
}
void Rtabmap::generateGraph(const std::string & path, int id, int margin)
void Rtabmap::generateDOTGraph(const std::string & path, int id, int margin)
{
if(_memory)
{
@@ -596,7 +596,7 @@ void Rtabmap::generateGraph(const std::string & path, int id, int margin)
}
}
void Rtabmap::generateTOROGraph(const std::string & path, bool optimized, bool full)
void Rtabmap::generateTOROGraph(const std::string & path, bool optimized, bool global)
{
if(_memory && _memory->getLastWorkingSignature())
{
@@ -605,12 +605,12 @@ void Rtabmap::generateTOROGraph(const std::string & path, bool optimized, bool f
if(optimized)
{
this->optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), full, poses, &constraints);
this->optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), global, poses, &constraints);
}
else
{
std::map<int, int> ids = _memory->getNeighborsId(_memory->getLastWorkingSignature()->id(), 0, full?-1:0, true);
_memory->getMetricConstraints(uKeys(ids), poses, constraints, full);
std::map<int, int> ids = _memory->getNeighborsId(_memory->getLastWorkingSignature()->id(), 0, global?-1:0, true);
_memory->getMetricConstraints(uKeys(ids), poses, constraints, global);
}
util3d::saveTOROGraph(path, poses, constraints);
@@ -2110,23 +2110,23 @@ void Rtabmap::get3DMap(std::map<int, std::vector<unsigned char> > & images,
std::map<int, Transform> & poses,
std::multimap<int, Link> & constraints,
bool optimized,
bool full) const
bool global) const
{
if(_memory && _memory->getLastWorkingSignature())
{
if(optimized)
{
this->optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), full, poses, &constraints);
this->optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), global, poses, &constraints);
}
else
{
std::map<int, int> ids = _memory->getNeighborsId(_memory->getLastWorkingSignature()->id(), 0, full?-1:0, true);
_memory->getMetricConstraints(uKeys(ids), poses, constraints, full);
std::map<int, int> ids = _memory->getNeighborsId(_memory->getLastWorkingSignature()->id(), 0, global?-1:0, true);
_memory->getMetricConstraints(uKeys(ids), poses, constraints, global);
}
std::set<int> ids = _memory->getWorkingMem(); // STM + WM
ids.insert(_memory->getStMem().begin(), _memory->getStMem().end());
if(full)
if(global)
{
ids = _memory->getAllSignatureIds(); // STM + WM + LTM
}

74
corelib/src/RtabmapThread.cpp
View File

@@ -106,7 +106,7 @@ void RtabmapThread::publishMap(bool optimized, bool full) const
constraints));
}
void RtabmapThread::publishGraph(bool optimized, bool full) const
void RtabmapThread::publishTOROGraph(bool optimized, bool full) const
{
std::map<int, std::vector<unsigned char> > images;
std::map<int, std::vector<unsigned char> > depths;
@@ -178,16 +178,16 @@ void RtabmapThread::mainLoop()
case kStateDumpingPrediction:
_rtabmap->dumpPrediction();
break;
case kStateGeneratingGraph:
_rtabmap->generateGraph(parameters.at("path"));
case kStateGeneratingDOTGraph:
_rtabmap->generateDOTGraph(parameters.at("path"));
break;
case kStateGeneratingLocalGraph:
_rtabmap->generateGraph(parameters.at("path"), atoi(parameters.at("id").c_str()), atoi(parameters.at("margin").c_str()));
case kStateGeneratingDOTLocalGraph:
_rtabmap->generateDOTGraph(parameters.at("path"), atoi(parameters.at("id").c_str()), atoi(parameters.at("margin").c_str()));
break;
case kStateGeneratingTOROGraph:
case kStateGeneratingTOROGraphLocal:
_rtabmap->generateTOROGraph(parameters.at("path"), atoi(parameters.at("optimized").c_str())!=0, false);
break;
case kStateGeneratingTOROGraphFull:
case kStateGeneratingTOROGraphGlobal:
_rtabmap->generateTOROGraph(parameters.at("path"), atoi(parameters.at("optimized").c_str())!=0, true);
break;
case kStateDeletingMemory:
@@ -201,17 +201,17 @@ void RtabmapThread::mainLoop()
case kStateCleanDataBuffer:
this->clearBufferedData();
break;
case kStatePublishingMap:
case kStatePublishingMapLocal:
this->publishMap(atoi(parameters.at("optimized").c_str())!=0, false);
break;
case kStatePublishingMapFull:
case kStatePublishingMapGlobal:
this->publishMap(atoi(parameters.at("optimized").c_str())!=0, true);
break;
case kStatePublishingGraph:
this->publishGraph(atoi(parameters.at("optimized").c_str())!=0, false);
case kStatePublishingTOROGraphLocal:
this->publishTOROGraph(atoi(parameters.at("optimized").c_str())!=0, false);
break;
case kStatePublishingGraphFull:
this->publishGraph(atoi(parameters.at("optimized").c_str())!=0, true);
case kStatePublishingTOROGraphGlobal:
this->publishTOROGraph(atoi(parameters.at("optimized").c_str())!=0, true);
break;
case kStateTriggeringMap:
_rtabmap->triggerNewMap();
@@ -264,48 +264,48 @@ void RtabmapThread::handleEvent(UEvent* event)
ULOGGER_DEBUG("CMD_DUMP_PREDICTION");
pushNewState(kStateDumpingPrediction);
}
else if(cmd == RtabmapEventCmd::kCmdGenerateGraph)
else if(cmd == RtabmapEventCmd::kCmdGenerateDOTGraph)
{
UASSERT(!rtabmapEvent->getStr().empty());
ULOGGER_DEBUG("CMD_GENERATE_GRAPH");
ULOGGER_DEBUG("CMD_GENERATE_DOT_GRAPH");
ParametersMap param;
param.insert(ParametersPair("path", rtabmapEvent->getStr()));
pushNewState(kStateGeneratingGraph, param);
pushNewState(kStateGeneratingDOTGraph, param);
}
else if(cmd == RtabmapEventCmd::kCmdGenerateLocalGraph)
else if(cmd == RtabmapEventCmd::kCmdGenerateDOTLocalGraph)
{
std::list<std::string> values = uSplit(rtabmapEvent->getStr(), ';');
UASSERT(values.size() == 3);
ULOGGER_DEBUG("CMD_GENERATE_LOCAL_GRAPH");
ULOGGER_DEBUG("CMD_GENERATE_DOT_LOCAL_GRAPH");
ParametersMap param;
param.insert(ParametersPair("path", *values.begin()));
param.insert(ParametersPair("id", *(++values.begin())));
param.insert(ParametersPair("margin", *values.rbegin()));
pushNewState(kStateGeneratingLocalGraph, param);
pushNewState(kStateGeneratingDOTLocalGraph, param);
}
else if(cmd == RtabmapEventCmd::kCmdGenerateTOROGraph)
else if(cmd == RtabmapEventCmd::kCmdGenerateTOROGraphLocal)
{
UASSERT(!rtabmapEvent->getStr().empty());
ULOGGER_DEBUG("CMD_GENERATE_TORO_GRAPH");
ULOGGER_DEBUG("CMD_GENERATE_TORO_GRAPH_LOCAL");
ParametersMap param;
param.insert(ParametersPair("path", rtabmapEvent->getStr()));
param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
pushNewState(kStateGeneratingTOROGraph, param);
pushNewState(kStateGeneratingTOROGraphLocal, param);
}
else if(cmd == RtabmapEventCmd::kCmdGenerateTOROGraphFull)
else if(cmd == RtabmapEventCmd::kCmdGenerateTOROGraphGlobal)
{
UASSERT(!rtabmapEvent->getStr().empty());
ULOGGER_DEBUG("CMD_GENERATE_TORO_GRAPH_FULL");
ULOGGER_DEBUG("CMD_GENERATE_TORO_GRAPH_GLOBAL");
ParametersMap param;
param.insert(ParametersPair("path", rtabmapEvent->getStr()));
param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
pushNewState(kStateGeneratingTOROGraphFull, param);
pushNewState(kStateGeneratingTOROGraphGlobal, param);
}
else if(cmd == RtabmapEventCmd::kCmdDeleteMemory)
@@ -320,33 +320,33 @@ void RtabmapThread::handleEvent(UEvent* event)
ULOGGER_DEBUG("CMD_CLEAN_DATA_BUFFER");
pushNewState(kStateCleanDataBuffer);
}
else if(cmd == RtabmapEventCmd::kCmdPublish3DMap)
else if(cmd == RtabmapEventCmd::kCmdPublish3DMapLocal)
{
ULOGGER_DEBUG("CMD_PUBLISH_MAP");
ULOGGER_DEBUG("CMD_PUBLISH_MAP_LOCAL");
ParametersMap param;
param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
pushNewState(kStatePublishingMap, param);
pushNewState(kStatePublishingMapLocal, param);
}
else if(cmd == RtabmapEventCmd::kCmdPublish3DMapFull)
else if(cmd == RtabmapEventCmd::kCmdPublish3DMapGlobal)
{
ULOGGER_DEBUG("CMD_PUBLISH_MAP_FULL");
ULOGGER_DEBUG("CMD_PUBLISH_MAP_GLOBAL");
ParametersMap param;
param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
pushNewState(kStatePublishingMapFull, param);
pushNewState(kStatePublishingMapGlobal, param);
}
else if(cmd == RtabmapEventCmd::kCmdPublishGraph)
else if(cmd == RtabmapEventCmd::kCmdPublishTOROGraphLocal)
{
ULOGGER_DEBUG("CMD_PUBLISH_GRAPH");
ULOGGER_DEBUG("CMD_PUBLISH_TORO_GRAPH_LOCAL");
ParametersMap param;
param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
pushNewState(kStatePublishingGraph, param);
pushNewState(kStatePublishingTOROGraphLocal, param);
}
else if(cmd == RtabmapEventCmd::kCmdPublishGraphFull)
else if(cmd == RtabmapEventCmd::kCmdPublishTOROGraphGlobal)
{
ULOGGER_DEBUG("CMD_PUBLISH_GRAPH_FULL");
ULOGGER_DEBUG("CMD_PUBLISH_TORO_GRAPH_GLOBAL");
ParametersMap param;
param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
pushNewState(kStatePublishingGraphFull, param);
pushNewState(kStatePublishingTOROGraphGlobal, param);
}
else if(cmd == RtabmapEventCmd::kCmdTriggerNewMap)
{