i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Split RawDataKept parameter into Raw and Binary parameters to save RAM when keeping raw data in the core is not required

Browse Source
This commit is contained in:
Mathieu Labbe
2015-01-12 18:23:25 -05:00
parent cdb1e29d45
commit 6bd2a0926b
9 changed files with 49 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
guilib/src/DataRecorder.cpp
View File

@@ -60,7 +60,7 @@ bool DataRecorder::init(const QString & path, bool recordInRAM)
ParametersMap customParameters;
customParameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
customParameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), "-1")); // desactivate keypoints extraction
customParameters.insert(ParametersPair(Parameters::kMemImageKept(), "true")); // to keep images
customParameters.insert(ParametersPair(Parameters::kMemBinDataKept(), "true")); // to keep images
if(!recordInRAM)
{
customParameters.insert(ParametersPair(Parameters::kDbSqlite3InMemory(), "false")); // to keep images

2
guilib/src/MainWindow.cpp
View File

@@ -2839,7 +2839,7 @@ void MainWindow::postProcessing()
ParametersMap customParameters;
// override some parameters
customParameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
customParameters.insert(ParametersPair(Parameters::kMemImageKept(), "false"));
customParameters.insert(ParametersPair(Parameters::kMemBinDataKept(), "false"));
customParameters.insert(ParametersPair(Parameters::kMemSTMSize(), "0"));
customParameters.insert(ParametersPair(Parameters::kKpNewWordsComparedTogether(), "false"));
customParameters.insert(ParametersPair(Parameters::kKpNNStrategy(), parameters.at(Parameters::kLccReextractNNType())));

1
guilib/src/PreferencesDialog.cpp
View File

@@ -327,6 +327,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
// Memory
_ui->general_checkBox_keepRawData->setObjectName(Parameters::kMemImageKept().c_str());
_ui->general_checkBox_keepBinaryData->setObjectName(Parameters::kMemBinDataKept().c_str());
_ui->general_checkBox_keepRehearsedNodes->setObjectName(Parameters::kMemRehearsedNodesKept().c_str());
_ui->general_spinBox_maxStMemSize->setObjectName(Parameters::kMemSTMSize().c_str());
_ui->doubleSpinBox_similarityThreshold->setObjectName(Parameters::kMemRehearsalSimilarity().c_str());

36
guilib/src/ui/preferencesDialog.ui
View File

@@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>732</width>
<height>1302</height>
<width>744</width>
<height>1056</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>0</number>
<number>8</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -2811,6 +2811,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<layout class="QVBoxLayout" name="verticalLayout_10">
<item>
<layout class="QGridLayout" name="gridLayout_42" columnstretch="0,1">
<item row="5" column="1">
<widget class="QLabel" name="label_retrieved_4">
<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>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="general_spinBox_maxStMemSize">
<property name="minimum">
@@ -2936,16 +2946,26 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_retrieved_4">
<item row="6" column="1">
<widget class="QLabel" name="label_retrieved_5">
<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>Keep raw sensor data. Only useful to save loop closure computation time when features re-extraction is enabled. Disable to save RAM memory.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="general_checkBox_keepRawData">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -3021,7 +3041,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
<layout class="QGridLayout" name="gridLayout_11" columnstretch="0,1">
<item row="0" column="0">
<widget class="QCheckBox" name="general_checkBox_keepRawData">
<widget class="QCheckBox" name="general_checkBox_keepBinaryData">
<property name="text">
<string/>
</property>
@@ -3033,7 +3053,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="0" column="1">
<widget class="QLabel" name="label_keepRawData">
<property name="text">
<string>Keep raw sensor data.</string>
<string>Keep sensor compressed data.</string>
</property>
<property name="wordWrap">
<bool>true</bool>