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Added Mem/MapLabelsAdded parameter (default true)

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matlabbe
2015-11-27 14:57:29 -05:00
parent 096684ed94
commit 69a04121a3
6 changed files with 48 additions and 19 deletions
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1
corelib/include/rtabmap/core/Memory.h
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@@ -240,6 +240,7 @@ private:
bool _idUpdatedToNewOneRehearsal;
bool _generateIds;
bool _badSignaturesIgnored;
bool _mapLabelsAdded;
int _imageDecimation;
float _laserScanVoxelSize;
bool _localSpaceLinksKeptInWM;

1
corelib/include/rtabmap/core/Parameters.h
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@@ -186,6 +186,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, RehearsalSimilarity, float, 0.6, "Rehearsal similarity.");
RTABMAP_PARAM(Mem, ImageKept, bool, false, "Keep raw images in RAM.");
RTABMAP_PARAM(Mem, BinDataKept, bool, true, "Keep binary data in db.");
RTABMAP_PARAM(Mem, MapLabelsAdded, bool, true, "Create map labels. The first node of a map will be labelled as \"map#\" where # is the map ID.");
RTABMAP_PARAM(Mem, SaveDepth16Format, bool, true, "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, STMSize, unsigned int, 10, "Short-term memory size.");

4
corelib/src/Memory.cpp
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@@ -78,6 +78,7 @@ Memory::Memory(const ParametersMap & parameters) :
_idUpdatedToNewOneRehearsal(Parameters::defaultMemRehearsalIdUpdatedToNewOne()),
_generateIds(Parameters::defaultMemGenerateIds()),
_badSignaturesIgnored(Parameters::defaultMemBadSignaturesIgnored()),
_mapLabelsAdded(Parameters::defaultMemMapLabelsAdded()),
_imageDecimation(Parameters::defaultMemImageDecimation()),
_laserScanVoxelSize(Parameters::defaultMemLaserScanVoxelSize()),
_localSpaceLinksKeptInWM(Parameters::defaultMemLocalSpaceLinksKeptInWM()),
@@ -408,6 +409,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kMemRehearsalIdUpdatedToNewOne(), _idUpdatedToNewOneRehearsal);
Parameters::parse(parameters, Parameters::kMemGenerateIds(), _generateIds);
Parameters::parse(parameters, Parameters::kMemBadSignaturesIgnored(), _badSignaturesIgnored);
Parameters::parse(parameters, Parameters::kMemMapLabelsAdded(), _mapLabelsAdded);
Parameters::parse(parameters, Parameters::kMemRehearsalSimilarity(), _similarityThreshold);
Parameters::parse(parameters, Parameters::kMemRecentWmRatio(), _recentWmRatio);
Parameters::parse(parameters, Parameters::kMemTransferSortingByWeightId(), _transferSortingByWeightId);
@@ -745,7 +747,7 @@ void Memory::addSignatureToStm(Signature * signature, const cv::Mat & covariance
}
}
}
else
else if(_mapLabelsAdded)
{
//Tag the first node of the map
std::string tag = uFormat("map%d", signature->mapId());