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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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corelib/src/DBDriverSqlite3.cpp
+10 -2
View File
@@ -340,7 +340,7 @@ bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwri
}
if(rc != SQLITE_OK)
{
UFATAL("DB error : %s", sqlite3_errmsg(_ppDb));
UFATAL("DB error : %s (path=\"%s\")", sqlite3_errmsg(_ppDb), url.c_str());
_ppDb = 0;
return false;
}
@@ -2027,13 +2027,21 @@ std::string DBDriverSqlite3::queryStepLink() const
return "INSERT INTO Link(from_id, to_id, type, transform) VALUES(?,?,?,?);";
}
}
void DBDriverSqlite3::stepLink(sqlite3_stmt * ppStmt, int fromId, int toId, int type, float variance, const Transform & transform) const
void DBDriverSqlite3::stepLink(sqlite3_stmt * ppStmt, int fromId, int toId, Link::Type type, float variance, const Transform & transform) const
{
if(!ppStmt)
{
UFATAL("");
}
UDEBUG("Save link from %d to %d, type=%d", fromId, toId, type);
// Don't save virtual links
if(type==Link::kVirtualClosure)
{
UDEBUG("Virtual link ignored....");
return;
}
int rc = SQLITE_OK;
int index = 1;
rc = sqlite3_bind_int(ppStmt, index++, fromId);