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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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6
tools/ConsoleApp/main.cpp
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@@ -502,12 +502,12 @@ int main(int argc, char * argv[])
if(rtabmap.getLoopClosureId())
{
printf(" iteration(%d) loop(%d) hyp(%.2f) time=%fs/%fs *\n",
count, rtabmap.getLoopClosureId(), rtabmap.getLcHypValue(), rtabmapTime, iterationTime);
count, rtabmap.getLoopClosureId(), rtabmap.getLoopClosureValue(), rtabmapTime, iterationTime);
}
else if(rtabmap.getRetrievedId())
else if(rtabmap.getHighestHypothesisId())
{
printf(" iteration(%d) high(%d) hyp(%.2f) time=%fs/%fs\n",
count, rtabmap.getRetrievedId(), rtabmap.getLcHypValue(), rtabmapTime, iterationTime);
count, rtabmap.getHighestHypothesisId(), rtabmap.getHighestHypothesisValue(), rtabmapTime, iterationTime);
}
else
{