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Integration of the path planner into rtabmap's memory management to actually retrieve nodes on the planned path on the graph.

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Added Rtabmap::clearPath(), Rtabmap::computePath(), Rtabmap::getPathGoalId() and Rtabmap::updateGoalIndex() methods.
Added virtual links when path retrieval is activated (virtual links are not saved to database and removed when the path goal is reached).
New parameters: RGBD/GoalReachedRadius and RGBD/MaxAnticipatedNodes
Refactored how loop closure hypotheses are selected (fixed ratio between consecutive hypotheses, not the last loop closure).
Updated getNodesInRadius() to use all filtered scans.
GUI: window can be saved/loaded maximized
GUI: saving Graph View parameters to config.ini
This commit is contained in:
Mathieu Labbe
2015-01-30 15:30:57 -05:00
parent 45a5da9f16
commit a2dde36093
21 changed files with 929 additions and 310 deletions
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44
app/src/main.cpp
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@@ -43,16 +43,23 @@ int main(int argc, char* argv[])
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kInfo);
ULOGGER_INFO("Program started...");
/* Create tasks */
QApplication * app = new QApplication(argc, argv);
MainWindow * mainWindow = new MainWindow();
UINFO("Program started...");
UEventsManager::addHandler(mainWindow);
/* Start thread's task */
mainWindow->show();
if(mainWindow->isSavedMaximized())
{
mainWindow->showMaximized();
}
else
{
mainWindow->show();
}
RtabmapThread * rtabmap = new RtabmapThread(new Rtabmap());
rtabmap->start(); // start it not initialized... will be initialized by event from the gui
@@ -67,37 +74,14 @@ int main(int argc, char* argv[])
UEventsManager::removeHandler(mainWindow);
UEventsManager::removeHandler(rtabmap);
ULOGGER_INFO("Killing threads...");
UINFO("Killing threads...");
rtabmap->join(true);
ULogger::setLevel(ULogger::kInfo);
ULOGGER_INFO("Closing RTAB-Map core...");
//Since we can't put the Rtabmap object in the MainWindow class,
//we pop up a message box indicating that the rtabmap object
// is being deleted (saving data to the database)
QMessageBox * msg = new QMessageBox(QMessageBox::Information,
QObject::tr("RTAB-Map is closing..."),
QObject::tr("The detector is saving the working memory to database (located in RTAB-Map's working directory)..."),
QMessageBox::NoButton,
mainWindow);
msg->setEnabled(false);
msg->setIconPixmap(QPixmap(":/images/RTAB-Map.ico"));
msg->setWindowIcon(QIcon(":/images/RTAB-Map.ico"));
msg->show();
UObjDeletionThread<RtabmapThread> delThread(rtabmap);
ObjDeletionHandler handler(delThread.id(), app, SLOT(quit()));
UEventsManager::addHandler(&handler);
delThread.startDeletion(1); // make sure that app-exec() is called before the deletion of the object
app->exec();
ULOGGER_INFO("Closing RTAB-Map gui...");
UINFO("Closing RTAB-Map...");
delete rtabmap;
delete mainWindow;
delete app;
ULOGGER_INFO("All done!");
UINFO("All done!");
return 0;
}