-Updated File menu with new actions "New database...", "Open database", "Close database" and "Edit database". Each new session will be automatically saved when closing the database. The "play" action cannot be activated until a new database is created or a previous session database is opened.

-  Memory usage reviewed for the GUI: we don't uncompress data for downloaded nodes from "Download all clouds" action.
- Odometry: added optional argument "initialPose" to reset() method

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1930 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/DBDriver.h

@@ -91,7 +91,7 @@ public:
 	// Load objects
 	void load(VWDictionary * dictionary) const;
 	void loadLastNodes(std::list<Signature *> & signatures) const;
-	void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures);
+	void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0);
 	void loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws);
 
 	// Specific queries...

corelib/include/rtabmap/core/Memory.h

@@ -69,7 +69,7 @@ public:
 	bool init(const std::string & dbUrl,
 			bool dbOverwritten = false,
 			const ParametersMap & parameters = ParametersMap(),
-			bool postInitEvents = true);
+			bool postInitClosingEvents = false);
 	std::map<int, float> computeLikelihood(const Signature * signature,
 			const std::list<int> & ids);
 	int incrementMapId();
@@ -215,6 +215,7 @@ private:
 	int _lastGlobalLoopClosureChildId;
 	bool _memoryChanged; // False by default, become true when Memory::update() is called.
 	int _signaturesAdded;
+	bool _postInitClosingEvents;
 
 	std::map<int, Signature *> _signatures; // TODO : check if a signature is already added? although it is not supposed to occur...
 	std::set<int> _stMem; // id

corelib/include/rtabmap/core/Odometry.h

@@ -57,7 +57,7 @@ class RTABMAP_EXP Odometry
 public:
 	virtual ~Odometry() {}
 	Transform process(SensorData & data, int * quality = 0, int * features = 0, int * localMapSize = 0);
-	virtual void reset();
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
 
 	bool isLargeEnoughTransform(const Transform & transform);
 
@@ -104,7 +104,7 @@ public:
 	OdometryBOW(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
 	virtual ~OdometryBOW();
 
-	virtual void reset();
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
 	const std::multimap<int, pcl::PointXYZ> & getLocalMap() const {return localMap_;}
 	const Memory * getMemory() const {return _memory;}
 
@@ -125,7 +125,7 @@ public:
 	OdometryOpticalFlow(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
 	virtual ~OdometryOpticalFlow();
 
-	virtual void reset();
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
 
 	const cv::Mat & getLastFrame() const {return lastFrame_;}
 	const std::vector<cv::Point2f> & getLastCorners() const {return lastCorners_;}
@@ -168,7 +168,7 @@ public:
 			float maxFitness = 0.01f,
 			bool pointToPlane = true,
 			const ParametersMap & odometryParameter = rtabmap::ParametersMap());
-	void reset();
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
 
 private:
 	virtual Transform computeTransform(const SensorData & image, int * quality = 0, int * features = 0, int * localMapSize = 0);

corelib/include/rtabmap/core/Parameters.h

@@ -139,7 +139,6 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Rtabmap, DetectionRate,                float, 1.0, "Detection rate. RTAB-Map will filter input images to satisfy this rate.");
 	RTABMAP_PARAM(Rtabmap, ImageBufferSize,              int, 1, 	 "Data buffer size (0 min inf).");
 	RTABMAP_PARAM_STR(Rtabmap, WorkingDirectory, Parameters::getDefaultWorkingDirectory(), "Working directory.");
-	RTABMAP_PARAM_STR(Rtabmap, DatabasePath,     Parameters::getDefaultDatabasePath(), "Database path.");
 	RTABMAP_PARAM(Rtabmap, MaxRetrieved,                 unsigned int, 2, "Maximum locations retrieved at the same time from LTM.");
 	RTABMAP_PARAM(Rtabmap, StatisticLogsBufferedInRAM,   bool, true, "Statistic logs buffered in RAM instead of written to hard drive after each iteration.");
 	RTABMAP_PARAM(Rtabmap, StatisticLogged,   	         bool, false, "Logging enabled.");
@@ -354,7 +353,6 @@ public:
 private:
 	Parameters();
 	static std::string getDefaultWorkingDirectory();
-	static std::string getDefaultDatabasePath();
 
 private:
 	static ParametersMap parameters_;

corelib/include/rtabmap/core/Rtabmap.h

@@ -65,13 +65,12 @@ public:
 	bool process(const cv::Mat & image, int id=0); // for convenience, an id is automatically generated if id=0
 	bool process(const SensorData & data); // for convenience
 
-	void init(const ParametersMap & param, bool deleteMemory = true);
-	void init(const std::string & configFile = "", bool deleteMemory = true);
+	void init(const ParametersMap & parameters, const std::string & databasePath = "");
+	void init(const std::string & configFile = "", const std::string & databasePath = "");
 
 	void close();
 
 	const std::string & getWorkingDir() const {return _wDir;}
-	std::string getDatabasePath() const;
 	int getLoopClosureId() const;
 	int getRetrievedId() const;
 	int getLastLocationId() const;
@@ -98,12 +97,11 @@ public:
 	void triggerNewMap();
 	void generateDOTGraph(const std::string & path, int id=0, int margin=5);
 	void generateTOROGraph(const std::string & path, bool optimized, bool global);
-	void resetMemory(bool dbOverwritten = false);
+	void resetMemory();
 	void dumpPrediction() const;
 	void dumpData() const;
 	void parseParameters(const ParametersMap & parameters);
 	void setWorkingDirectory(std::string path);
-	void setDatabasePath(const std::string & path);
 	void deleteLocation(int locationId); // Only nodes in STM can be deleted
 	void rejectLoopClosure(int oldId, int newId);
 	void get3DMap(std::map<int, Signature> & signatures,

corelib/include/rtabmap/core/RtabmapEvent.h

@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <rtabmap/utilite/UEvent.h>
 #include "rtabmap/core/Statistics.h"
+#include "rtabmap/core/Parameters.h"
 
 namespace rtabmap
 {
@@ -57,14 +58,15 @@ class RtabmapEventCmd : public UEvent
 public:
 	enum dummy {d}; // Hack, to fix Eclipse complaining about not defined Cmd enum ?!
 	enum Cmd {
+			kCmdInit,
 			kCmdResetMemory,
+			kCmdClose,
 			kCmdDumpMemory,
 			kCmdDumpPrediction,
 			kCmdGenerateDOTGraph, // params: path
 			kCmdGenerateDOTLocalGraph, // params: path, id, margin
 			kCmdGenerateTOROGraphLocal, // params: path, optimized
 			kCmdGenerateTOROGraphGlobal, // params: path, optimized
-			kCmdDeleteMemory, // params: path [optional]
 			kCmdCleanDataBuffer,
 			kCmdPublish3DMapLocal, // params: optimized
 			kCmdPublish3DMapGlobal, // params: optimized
@@ -73,26 +75,12 @@ public:
 			kCmdTriggerNewMap,
 			kCmdPause};
 public:
-	RtabmapEventCmd(Cmd cmd) :
-		UEvent(0),
-		_cmd(cmd),
-		_strValue(""),
-		_intValue(0){}
-	RtabmapEventCmd(Cmd cmd, int value) :
-			UEvent(0),
-			_cmd(cmd),
-			_strValue(""),
-			_intValue(value){}
-	RtabmapEventCmd(Cmd cmd, const std::string & value) :
-			UEvent(0),
-			_cmd(cmd),
-			_strValue(value),
-			_intValue(0){}
-	RtabmapEventCmd(Cmd cmd, const std::string & strValue, int intValue) :
+	RtabmapEventCmd(Cmd cmd, const std::string & strValue = "", int intValue = 0, const ParametersMap & parameters = ParametersMap()) :
 			UEvent(0),
 			_cmd(cmd),
 			_strValue(strValue),
-			_intValue(intValue){}
+			_intValue(intValue),
+			_parameters(parameters){}
 
 	virtual ~RtabmapEventCmd() {}
 	Cmd getCmd() const {return _cmd;}
@@ -103,12 +91,15 @@ public:
 	void setInt(int v) {_intValue = v;}
 	int getInt() const {return _intValue;}
 
+	const ParametersMap & getParameters() const {return _parameters;}
+
 	virtual std::string getClassName() const {return std::string("RtabmapEventCmd");}
 
 private:
 	Cmd _cmd;
 	std::string _strValue;
 	int _intValue;
+	ParametersMap _parameters;
 };
 
 class RtabmapEventInit : public UEvent
@@ -118,6 +109,8 @@ public:
 	enum Status {
 		kInitializing,
 		kInitialized,
+		kClosing,
+		kClosed,
 		kInfo,
 		kError
 	};

corelib/include/rtabmap/core/RtabmapThread.h

@@ -53,9 +53,10 @@ class RTABMAP_EXP RtabmapThread :
 {
 public:
 	enum State {
-		kStateIdle,
+		kStateInit,
 		kStateDetecting,
 		kStateReseting,
+		kStateClose,
 		kStateChangingParameters,
 		kStateDumpingMemory,
 		kStateDumpingPrediction,
@@ -63,13 +64,11 @@ public:
 		kStateGeneratingDOTLocalGraph,
 		kStateGeneratingTOROGraphLocal,
 		kStateGeneratingTOROGraphGlobal,
-		kStateDeletingMemory,
 		kStateCleanDataBuffer,
 		kStatePublishingMapLocal,
 		kStatePublishingMapGlobal,
 		kStatePublishingTOROGraphLocal,
 		kStatePublishingTOROGraphGlobal,
-		Graph,
 		kStateTriggeringMap
 	};
 

corelib/include/rtabmap/core/Signature.h

@@ -140,6 +140,7 @@ public:
 
 	SensorData toSensorData();
 	void uncompressData();
+	void uncompressData(cv::Mat * image, cv::Mat * depth, cv::Mat * depth2D) const;
 
 private:
 	int _id;

corelib/include/rtabmap/core/util3d.h

@@ -71,12 +71,13 @@ class RTABMAP_EXP CompressionThread : public UThread
 public:
 	// format : ".png" ".jpg" "" (empty is general)
 	CompressionThread(const cv::Mat & mat, const std::string & format = "");
-	CompressionThread(const std::vector<unsigned char> & bytes, bool isImage);
+	CompressionThread(const std::vector<unsigned char> * bytes, bool isImage);
 	const std::vector<unsigned char> & getCompressedData() const {return compressedData_;}
 	cv::Mat & getUncompressedData() {return uncompressedData_;}
 protected:
 	virtual void mainLoop();
 private:
+	const std::vector<unsigned char> * constCompressedData_;
 	std::vector<unsigned char> compressedData_;
 	cv::Mat uncompressedData_;
 	std::string format_;