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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 _idUpdatedToNewOneRehearsal;
bool _generateIds; bool _generateIds;
bool _badSignaturesIgnored; bool _badSignaturesIgnored;
bool _mapLabelsAdded;
int _imageDecimation; int _imageDecimation;
float _laserScanVoxelSize; float _laserScanVoxelSize;
bool _localSpaceLinksKeptInWM; 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, RehearsalSimilarity, float, 0.6, "Rehearsal similarity.");
RTABMAP_PARAM(Mem, ImageKept, bool, false, "Keep raw images in RAM."); 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, 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, 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, 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."); 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()), _idUpdatedToNewOneRehearsal(Parameters::defaultMemRehearsalIdUpdatedToNewOne()),
_generateIds(Parameters::defaultMemGenerateIds()), _generateIds(Parameters::defaultMemGenerateIds()),
_badSignaturesIgnored(Parameters::defaultMemBadSignaturesIgnored()), _badSignaturesIgnored(Parameters::defaultMemBadSignaturesIgnored()),
_mapLabelsAdded(Parameters::defaultMemMapLabelsAdded()),
_imageDecimation(Parameters::defaultMemImageDecimation()), _imageDecimation(Parameters::defaultMemImageDecimation()),
_laserScanVoxelSize(Parameters::defaultMemLaserScanVoxelSize()), _laserScanVoxelSize(Parameters::defaultMemLaserScanVoxelSize()),
_localSpaceLinksKeptInWM(Parameters::defaultMemLocalSpaceLinksKeptInWM()), _localSpaceLinksKeptInWM(Parameters::defaultMemLocalSpaceLinksKeptInWM()),
@@ -408,6 +409,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kMemRehearsalIdUpdatedToNewOne(), _idUpdatedToNewOneRehearsal); Parameters::parse(parameters, Parameters::kMemRehearsalIdUpdatedToNewOne(), _idUpdatedToNewOneRehearsal);
Parameters::parse(parameters, Parameters::kMemGenerateIds(), _generateIds); Parameters::parse(parameters, Parameters::kMemGenerateIds(), _generateIds);
Parameters::parse(parameters, Parameters::kMemBadSignaturesIgnored(), _badSignaturesIgnored); Parameters::parse(parameters, Parameters::kMemBadSignaturesIgnored(), _badSignaturesIgnored);
Parameters::parse(parameters, Parameters::kMemMapLabelsAdded(), _mapLabelsAdded);
Parameters::parse(parameters, Parameters::kMemRehearsalSimilarity(), _similarityThreshold); Parameters::parse(parameters, Parameters::kMemRehearsalSimilarity(), _similarityThreshold);
Parameters::parse(parameters, Parameters::kMemRecentWmRatio(), _recentWmRatio); Parameters::parse(parameters, Parameters::kMemRecentWmRatio(), _recentWmRatio);
Parameters::parse(parameters, Parameters::kMemTransferSortingByWeightId(), _transferSortingByWeightId); 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 //Tag the first node of the map
std::string tag = uFormat("map%d", signature->mapId()); std::string tag = uFormat("map%d", signature->mapId());

1
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::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
customParameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), "-1")); // desactivate keypoints extraction customParameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), "-1")); // desactivate keypoints extraction
customParameters.insert(ParametersPair(Parameters::kMemBinDataKept(), "true")); // to keep images customParameters.insert(ParametersPair(Parameters::kMemBinDataKept(), "true")); // to keep images
customParameters.insert(ParametersPair(Parameters::kMemMapLabelsAdded(), "false")); // don't create map labels
customParameters.insert(ParametersPair(Parameters::kMemBadSignaturesIgnored(), "true")); // make usre memory cleanup is done customParameters.insert(ParametersPair(Parameters::kMemBadSignaturesIgnored(), "true")); // make usre memory cleanup is done
if(!recordInRAM) if(!recordInRAM)
{ {

1
guilib/src/PreferencesDialog.cpp
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@@ -472,6 +472,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->general_checkBox_RehearsalIdUpdatedToNewOne->setObjectName(Parameters::kMemRehearsalIdUpdatedToNewOne().c_str()); _ui->general_checkBox_RehearsalIdUpdatedToNewOne->setObjectName(Parameters::kMemRehearsalIdUpdatedToNewOne().c_str());
_ui->general_checkBox_generateIds->setObjectName(Parameters::kMemGenerateIds().c_str()); _ui->general_checkBox_generateIds->setObjectName(Parameters::kMemGenerateIds().c_str());
_ui->general_checkBox_badSignaturesIgnored->setObjectName(Parameters::kMemBadSignaturesIgnored().c_str()); _ui->general_checkBox_badSignaturesIgnored->setObjectName(Parameters::kMemBadSignaturesIgnored().c_str());
_ui->general_checkBox_createMapLabels->setObjectName(Parameters::kMemMapLabelsAdded().c_str());
_ui->general_checkBox_initWMWithAllNodes->setObjectName(Parameters::kMemInitWMWithAllNodes().c_str()); _ui->general_checkBox_initWMWithAllNodes->setObjectName(Parameters::kMemInitWMWithAllNodes().c_str());
_ui->checkBox_localSpaceLinksKeptInWM->setObjectName(Parameters::kMemLocalSpaceLinksKeptInWM().c_str()); _ui->checkBox_localSpaceLinksKeptInWM->setObjectName(Parameters::kMemLocalSpaceLinksKeptInWM().c_str());
_ui->checkBox_localSpaceScanMatchingIDsSaved->setObjectName(Parameters::kRGBDScanMatchingIdsSavedInLinks().c_str()); _ui->checkBox_localSpaceScanMatchingIDsSaved->setObjectName(Parameters::kRGBDScanMatchingIdsSavedInLinks().c_str());

59
guilib/src/ui/preferencesDialog.ui
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@@ -63,9 +63,9 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>-566</y> <y>0</y>
<width>755</width> <width>760</width>
<height>1764</height> <height>1705</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_16"> <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
</property> </property>
<property name="currentIndex"> <property name="currentIndex">
<number>23</number> <number>7</number>
</property> </property>
<widget class="QWidget" name="page_22"> <widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29"> <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -4078,7 +4078,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="11" column="0"> <item row="12" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_laserScanVoxel"> <widget class="QDoubleSpinBox" name="general_doubleSpinBox_laserScanVoxel">
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
@@ -4103,7 +4103,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="10" column="0"> <item row="11" column="0">
<widget class="QSpinBox" name="spinBox_imageDecimation"> <widget class="QSpinBox" name="spinBox_imageDecimation">
<property name="minimum"> <property name="minimum">
<number>1</number> <number>1</number>
@@ -4145,7 +4145,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="7" column="1"> <item row="8" column="1">
<widget class="QLabel" name="label_retrieved_4"> <widget class="QLabel" name="label_retrieved_4">
<property name="text"> <property name="text">
<string>Initialize the Woking Memory with all nodes from Long-Term memory, instead of only nodes of the last session. This may be useful in localization mode, where less processing time is required than in SLAM mode, so more nodes can be kept in Working Memory.</string> <string>Initialize the Woking Memory with all nodes from Long-Term memory, instead of only nodes of the last session. This may be useful in localization mode, where less processing time is required than in SLAM mode, so more nodes can be kept in Working Memory.</string>
@@ -4220,7 +4220,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="0"> <item row="6" column="0">
<widget class="QCheckBox" name="general_checkBox_badSignaturesIgnored"> <widget class="QCheckBox" name="general_checkBox_badSignaturesIgnored">
<property name="text"> <property name="text">
<string/> <string/>
@@ -4230,7 +4230,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="1"> <item row="6" column="1">
<widget class="QLabel" name="label_retrieved_3"> <widget class="QLabel" name="label_retrieved_3">
<property name="text"> <property name="text">
<string>Bad signatures are ignored.</string> <string>Bad signatures are ignored.</string>
@@ -4243,7 +4243,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="7" column="0"> <item row="8" column="0">
<widget class="QCheckBox" name="general_checkBox_initWMWithAllNodes"> <widget class="QCheckBox" name="general_checkBox_initWMWithAllNodes">
<property name="text"> <property name="text">
<string/> <string/>
@@ -4253,7 +4253,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="8" column="1"> <item row="9" column="1">
<widget class="QLabel" name="label_retrieved_5"> <widget class="QLabel" name="label_retrieved_5">
<property name="text"> <property name="text">
<string>Keep raw sensor data. Only useful to save loop closure computation time when features re-extraction is enabled. Disable to save RAM memory.</string> <string>Keep raw sensor data. Only useful to save loop closure computation time when features re-extraction is enabled. Disable to save RAM memory.</string>
@@ -4266,7 +4266,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="8" column="0"> <item row="9" column="0">
<widget class="QCheckBox" name="general_checkBox_keepRawData"> <widget class="QCheckBox" name="general_checkBox_keepRawData">
<property name="text"> <property name="text">
<string/> <string/>
@@ -4276,7 +4276,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="10" column="1"> <item row="11" column="1">
<widget class="QLabel" name="label_retrieved_6"> <widget class="QLabel" name="label_retrieved_6">
<property name="text"> <property name="text">
<string>Image decimation. This feature can be used to save images in lower resolution (size/decimation).</string> <string>Image decimation. This feature can be used to save images in lower resolution (size/decimation).</string>
@@ -4312,7 +4312,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="11" column="1"> <item row="12" column="1">
<widget class="QLabel" name="label_retrieved_8"> <widget class="QLabel" name="label_retrieved_8">
<property name="text"> <property name="text">
<string>If &gt; 0.0, voxelize laser scans when creating a location. This feature can be used to save laser scans already voxelized.</string> <string>If &gt; 0.0, voxelize laser scans when creating a location. This feature can be used to save laser scans already voxelized.</string>
@@ -4325,7 +4325,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="9" column="1"> <item row="10" column="1">
<widget class="QLabel" name="label_retrieved_9"> <widget class="QLabel" name="label_retrieved_9">
<property name="text"> <property name="text">
<string>Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).</string> <string>Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).</string>
@@ -4338,7 +4338,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="9" column="0"> <item row="10" column="0">
<widget class="QCheckBox" name="general_checkBox_saveDepth16bits"> <widget class="QCheckBox" name="general_checkBox_saveDepth16bits">
<property name="text"> <property name="text">
<string/> <string/>
@@ -4348,7 +4348,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="1"> <item row="7" column="1">
<widget class="QLabel" name="label_retrieved_10"> <widget class="QLabel" name="label_retrieved_10">
<property name="text"> <property name="text">
<string>Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set).</string> <string>Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set).</string>
@@ -4361,7 +4361,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="0"> <item row="7" column="0">
<widget class="QCheckBox" name="general_checkBox_reduceGraph"> <widget class="QCheckBox" name="general_checkBox_reduceGraph">
<property name="text"> <property name="text">
<string/> <string/>
@@ -4371,6 +4371,29 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="1">
<widget class="QLabel" name="label_retrieved_11">
<property name="text">
<string>Create map labels. The first node of a map will be labelled as &quot;map#&quot; where # is the map ID.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="general_checkBox_createMapLabels">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout> </layout>
</item> </item>
<item> <item>