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Tango #57: Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering

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This commit is contained in:
matlabbe
2016-04-04 13:03:43 -04:00
parent ff32f54aa8
commit af405e69b1
22 changed files with 424 additions and 193 deletions
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16
corelib/src/DBDriver.cpp
View File

@@ -61,14 +61,24 @@ void DBDriver::parseParameters(const ParametersMap & parameters)
{
}
void DBDriver::closeConnection()
void DBDriver::closeConnection(bool save)
{
UDEBUG("isRunning=%d", this->isRunning());
this->join(true);
UDEBUG("");
this->emptyTrashes();
if(save)
{
this->emptyTrashes();
}
else
{
_trashesMutex.lock();
_trashSignatures.clear();
_trashVisualWords.clear();
_trashesMutex.unlock();
}
_dbSafeAccessMutex.lock();
this->disconnectDatabaseQuery();
this->disconnectDatabaseQuery(save);
_dbSafeAccessMutex.unlock();
UDEBUG("");
}

6
corelib/src/DBDriverSqlite3.cpp
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@@ -381,7 +381,7 @@ bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwri
return true;
}
void DBDriverSqlite3::disconnectDatabaseQuery()
void DBDriverSqlite3::disconnectDatabaseQuery(bool save)
{
UDEBUG("");
if(_ppDb)
@@ -398,7 +398,7 @@ void DBDriverSqlite3::disconnectDatabaseQuery()
}
}
if(_dbInMemory)
if(save && _dbInMemory)
{
UTimer timer;
timer.start();
@@ -1049,8 +1049,6 @@ bool DBDriverSqlite3::getCalibrationQuery(
const void * data = 0;
int dataSize = 0;
Transform localTransform;
StereoCameraModel stereoModel;
std::vector<CameraModel> models;
// Process the result if one
rc = sqlite3_step(ppStmt);

4
corelib/src/DBDriverSqlite3.h
View File

@@ -48,8 +48,8 @@ public:
void setTempStore(int tempStore);
private:
virtual bool connectDatabaseQuery(const std::string & url, bool overwirtten = false);
virtual void disconnectDatabaseQuery();
virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false);
virtual void disconnectDatabaseQuery(bool save = true);
virtual bool isConnectedQuery() const;
virtual long getMemoryUsedQuery() const; // In bytes
virtual bool getDatabaseVersionQuery(std::string & version) const;

28
corelib/src/Memory.cpp
View File

@@ -313,7 +313,7 @@ void Memory::close(bool databaseSaved, bool postInitClosingEvents)
if(_dbDriver)
{
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(uFormat("Closing database \"%s\"...", _dbDriver->getUrl().c_str())));
_dbDriver->closeConnection();
_dbDriver->closeConnection(false);
delete _dbDriver;
_dbDriver = 0;
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Closing database, done!"));
@@ -2327,7 +2327,7 @@ Transform Memory::computeIcpTransformMulti(
return t;
}
bool Memory::addLink(const Link & link)
bool Memory::addLink(const Link & link, bool addInDatabase)
{
UASSERT(link.type() > Link::kNeighbor && link.type() != Link::kUndef);
@@ -2378,9 +2378,8 @@ bool Memory::addLink(const Link & link)
}
}
}
return true;
}
else
else if(!addInDatabase)
{
if(!fromS)
{
@@ -2390,8 +2389,27 @@ bool Memory::addLink(const Link & link)
{
UERROR("from=%d, to=%d, Signature %d not found in working/st memories", link.from(), link.to(), link.to());
}
return false;
}
return false;
else if(fromS)
{
UDEBUG("Add link between %d and %d (db)", link.from(), link.to());
fromS->addLink(link);
_dbDriver->addLink(link.inverse());
}
else if(toS)
{
UDEBUG("Add link between %d (db) and %d", link.from(), link.to());
_dbDriver->addLink(link);
toS->addLink(link.inverse());
}
else
{
UDEBUG("Add link between %d (db) and %d (db)", link.from(), link.to());
_dbDriver->addLink(link);
_dbDriver->addLink(link.inverse());
}
return true;
}
void Memory::updateLink(int fromId, int toId, const Transform & transform, float rotVariance, float transVariance)

2
corelib/src/OptimizerG2O.cpp
View File

@@ -612,6 +612,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA(
else
{
UERROR("Missing calibration for node %d", iter->first);
return optimizedPoses;
}
}
else
@@ -699,6 +700,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA(
{
delete e;
UERROR("Map: Failed adding constraint between %d and %d, skipping", id1, id2);
return optimizedPoses;
}
}
}

22
corelib/src/Rtabmap.cpp
View File

@@ -3277,12 +3277,12 @@ int Rtabmap::detectMoreLoopClosures(float clusterRadius, float clusterAngle, int
if(_graphOptimizer->iterations() <= 0)
{
UERROR("Cannot detect more loop closures if graph optimization iterations = 0");
return 0;
return -1;
}
if(!_rgbdSlamMode)
{
UERROR("Detecting more loop closures can be done only in RGBD-SLAM mode.");
return 0;
return -1;
}
std::list<Link> loopClosuresAdded;
@@ -3317,21 +3317,11 @@ int Rtabmap::detectMoreLoopClosures(float clusterRadius, float clusterAngle, int
to = iter->first;
}
bool alreadyChecked = false;
for(std::multimap<int, int>::iterator jter = checkedLoopClosures.lower_bound(from);
!alreadyChecked && jter!=checkedLoopClosures.end() && jter->first == from;
++jter)
{
if(to == jter->second)
{
alreadyChecked = true;
}
}
if(!alreadyChecked)
if(rtabmap::graph::findLink(checkedLoopClosures, from, to) == checkedLoopClosures.end())
{
// only add new links and one per cluster per iteration
if(addedLinks.find(from) == addedLinks.end() &&
addedLinks.find(to) == addedLinks.end() &&
rtabmap::graph::findLink(links, from, to) == links.end())
{
checkedLoopClosures.insert(std::make_pair(from, to));
@@ -3371,7 +3361,7 @@ int Rtabmap::detectMoreLoopClosures(float clusterRadius, float clusterAngle, int
{
UERROR("Optimization failed! Rejecting all loop closures...");
loopClosuresAdded.clear();
break;
return -1;
}
UINFO("Optimizing graph with new links... done!");
}
@@ -3382,7 +3372,7 @@ int Rtabmap::detectMoreLoopClosures(float clusterRadius, float clusterAngle, int
{
for(std::list<Link>::iterator iter=loopClosuresAdded.begin(); iter!=loopClosuresAdded.end(); ++iter)
{
_memory->addLink(*iter);
_memory->addLink(*iter, true);
}
}
return (int)loopClosuresAdded.size();