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RtabmapThread: changed state stack for a queue to process events in FIFO order (instead of FILO). Tango: Added detector type parameter (FREAK is now the default with 400 features).

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This commit is contained in:
matlabbe
2017-01-27 11:47:57 -05:00
parent b4a0fe54cd
commit 79a211ad02
9 changed files with 65 additions and 14 deletions
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6
corelib/include/rtabmap/core/RtabmapThread.h
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@@ -40,7 +40,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/Parameters.h"
#include "rtabmap/core/OdometryEvent.h"
#include <stack>
#include <queue>
class UTimer;
@@ -106,8 +106,8 @@ private:
private:
UMutex _stateMutex;
std::stack<State> _state;
std::stack<ParametersMap> _stateParam;
std::queue<State> _state;
std::queue<ParametersMap> _stateParam;
std::list<OdometryEvent> _dataBuffer;
UMutex _dataMutex;

2
corelib/src/Memory.cpp
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@@ -466,7 +466,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
}
if(detectorStrategy!=Feature2D::kFeatureUndef)
{
UDEBUG("new detector strategy %d", int(detectorStrategy));
UWARN("new detector strategy %d", int(detectorStrategy));
if(_feature2D)
{
delete _feature2D;

4
corelib/src/RtabmapThread.cpp
View File

@@ -195,9 +195,9 @@ void RtabmapThread::mainLoop()
{
if(!_state.empty() && !_stateParam.empty())
{
state = _state.top();
state = _state.front();
_state.pop();
parameters = _stateParam.top();
parameters = _stateParam.front();
_stateParam.pop();
}
}