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Code Issues Packages Projects Releases Wiki Activity

-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.

Browse Source 
-  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
This commit is contained in:
matlabbe
2014-10-28 01:20:57 +00:00
parent 457c068e0f
commit b56e03b463
30 changed files with 632 additions and 424 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Memory.cpp
+48 -31
View File
@@ -71,6 +71,7 @@ Memory::Memory(const ParametersMap & parameters) :
_lastGlobalLoopClosureChildId(0),
_memoryChanged(false),
_signaturesAdded(0),
_postInitClosingEvents(false),
_feature2D(new SURF(parameters)),
_featureType(Feature2D::kFeatureSurf),
@@ -114,16 +115,17 @@ Memory::Memory(const ParametersMap & parameters) :
this->parseParameters(parameters);
}
bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const ParametersMap & parameters, bool postInitEvents)
bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const ParametersMap & parameters, bool postInitClosingEvents)
{
if(postInitEvents) UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kInitializing));
_postInitClosingEvents = postInitClosingEvents;
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kInitializing));
UDEBUG("");
this->parseParameters(parameters);
bool loadAllNodesInWM = Parameters::defaultMemInitWMWithAllNodes();
Parameters::parse(parameters, Parameters::kMemInitWMWithAllNodes(), loadAllNodesInWM);
if(postInitEvents) UEventsManager::post(new RtabmapEventInit("Clearing memory..."));
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Clearing memory..."));
DBDriver * tmpDriver = 0;
if(!_memoryChanged)
{
@@ -134,7 +136,7 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
}
}
this->clear();
if(postInitEvents) UEventsManager::post(new RtabmapEventInit("Clearing memory, done!"));
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Clearing memory, done!"));
if(tmpDriver)
{
@@ -143,9 +145,9 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
if(_dbDriver)
{
if(postInitEvents) UEventsManager::post(new RtabmapEventInit("Closing database connection..."));
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Closing database connection..."));
_dbDriver->closeConnection();
if(postInitEvents) UEventsManager::post(new RtabmapEventInit("Closing database connection, done!"));
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Closing database connection, done!"));
}
if(_dbDriver == 0 && !dbUrl.empty())
@@ -157,18 +159,18 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
if(_dbDriver)
{
success = false;
if(postInitEvents) UEventsManager::post(new RtabmapEventInit(std::string("Connecting to database ") + dbUrl + "..."));
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Connecting to database ") + dbUrl + "..."));
if(_dbDriver->openConnection(dbUrl, dbOverwritten))
{
success = true;
if(postInitEvents) UEventsManager::post(new RtabmapEventInit(std::string("Connecting to database ") + dbUrl + ", done!"));
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Connecting to database ") + dbUrl + ", done!"));
// Load the last working memory...
std::list<Signature*> dbSignatures;
if(loadAllNodesInWM)
{
if(postInitEvents) UEventsManager::post(new RtabmapEventInit(std::string("Loading all nodes to WM...")));
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Loading all nodes to WM...")));
std::set<int> ids;
_dbDriver->getAllNodeIds(ids, true);
_dbDriver->loadSignatures(std::list<int>(ids.begin(), ids.end()), dbSignatures);
@@ -176,7 +178,7 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
else
{
// load previous session working memory
if(postInitEvents) UEventsManager::post(new RtabmapEventInit(std::string("Loading last nodes to WM...")));
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Loading last nodes to WM...")));
_dbDriver->loadLastNodes(dbSignatures);
}
for(std::list<Signature*>::reverse_iterator iter=dbSignatures.rbegin(); iter!=dbSignatures.rend(); ++iter)
@@ -199,7 +201,7 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
delete *iter;
}
}
if(postInitEvents) UEventsManager::post(new RtabmapEventInit(std::string("Loading nodes to WM, done! (") + uNumber2Str(int(_workingMem.size() + _stMem.size())) + " loaded)"));
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Loading nodes to WM, done! (") + uNumber2Str(int(_workingMem.size() + _stMem.size())) + " loaded)"));
// Assign the last signature
if(_stMem.size()>0)
@@ -217,7 +219,7 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
}
else
{
if(postInitEvents) UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kError, std::string("Connecting to database ") + dbUrl + ", path is invalid!"));
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kError, std::string("Connecting to database ") + dbUrl + ", path is invalid!"));
}
}
else
@@ -235,7 +237,7 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
// Now load the dictionary if we have a connection
if(_dbDriver && _dbDriver->isConnected())
{
if(postInitEvents) UEventsManager::post(new RtabmapEventInit("Loading dictionary..."));
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Loading dictionary..."));
if(loadAllNodesInWM)
{
// load all referenced words in working memory
@@ -268,10 +270,10 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
}
UDEBUG("%d words loaded!", _vwd->getUnusedWordsSize());
_vwd->update();
if(postInitEvents) UEventsManager::post(new RtabmapEventInit(uFormat("Loading dictionary, done! (%d words)", (int)_vwd->getUnusedWordsSize())));
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(uFormat("Loading dictionary, done! (%d words)", (int)_vwd->getUnusedWordsSize())));
}
if(postInitEvents) UEventsManager::post(new RtabmapEventInit(std::string("Adding word references...")));
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Adding word references...")));
// Enable loaded signatures
const std::map<int, Signature *> & signatures = this->getSignatures();
for(std::map<int, Signature *>::const_iterator i=signatures.begin(); i!=signatures.end(); ++i)
@@ -290,7 +292,7 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
s->setEnabled(true);
}
}
if(postInitEvents) UEventsManager::post(new RtabmapEventInit(uFormat("Adding word references, done! (%d)", _vwd->getTotalActiveReferences())));
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(uFormat("Adding word references, done! (%d)", _vwd->getTotalActiveReferences())));
if(_vwd->getUnusedWordsSize())
{
@@ -298,34 +300,47 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
}
UDEBUG("Total word references added = %d", _vwd->getTotalActiveReferences());
if(postInitEvents) UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kInitialized));
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kInitialized));
return success;
}
Memory::~Memory()
{
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kClosing));
UDEBUG("");
if(!_memoryChanged)
{
UDEBUG("");
if(_dbDriver)
{
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(uFormat("Closing database \"%s\"...", _dbDriver->getUrl().c_str())));
_dbDriver->closeConnection();
delete _dbDriver;
_dbDriver = 0;
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Closing database, done!"));
}
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Clearing memory..."));
this->clear();
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Clearing memory, done!"));
}
else
{
UDEBUG("");
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Saving memory..."));
this->clear();
if(_dbDriver)
{
_dbDriver->emptyTrashes();
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Saving memory, done!"));
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(uFormat("Closing database \"%s\"...", _dbDriver->getUrl().c_str())));
_dbDriver->closeConnection();
delete _dbDriver;
_dbDriver = 0;
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Closing database, done!"));
}
else
{
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Saving memory, done!"));
}
}
@@ -337,6 +352,7 @@ Memory::~Memory()
{
delete _vwd;
}
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kClosed));
}
void Memory::parseParameters(const ParametersMap & parameters)
@@ -2557,6 +2573,7 @@ std::vector<unsigned char> Memory::getImage(int signatureId) const
Signature Memory::getSignatureData(int locationId, bool uncompressedData)
{
UDEBUG("");
Signature r;
Signature * s = this->_getSignature(locationId);
if(s && s->getImage().size())
@@ -2578,7 +2595,8 @@ Signature Memory::getSignatureData(int locationId, bool uncompressedData)
std::list<int> ids;
ids.push_back(locationId);
std::list<Signature*> signatures;
_dbDriver->loadSignatures(ids, signatures);
std::set<int> loadedFromTrash;
_dbDriver->loadSignatures(ids, signatures, &loadedFromTrash);
if(signatures.size())
{
Signature * sTmp = signatures.front();
@@ -2587,10 +2605,19 @@ Signature Memory::getSignatureData(int locationId, bool uncompressedData)
_dbDriver->loadNodeData(signatures, !sTmp->getPose().isNull());
}
r = *sTmp;
this->moveToTrash(s);
if(loadedFromTrash.size())
{
//put it back to trash
_dbDriver->asyncSave(sTmp);
}
else
{
delete sTmp;
}
}
}
}
UDEBUG("");
if(uncompressedData && r.getImageRaw().empty() && r.getImage().size())
{
@@ -2604,20 +2631,10 @@ Signature Memory::getSignatureData(int locationId, bool uncompressedData)
}
else
{
util3d::CompressionThread ctImage(r.getImage(), true);
util3d::CompressionThread ctDepth(r.getDepth(), true);
util3d::CompressionThread ctDepth2D(r.getDepth2D(), false);
ctImage.start();
ctDepth.start();
ctDepth2D.start();
ctImage.join();
ctDepth.join();
ctDepth2D.join();
r.setImageRaw(ctImage.getUncompressedData());
r.setDepthRaw(ctDepth.getUncompressedData());
r.setDepth2DRaw(ctDepth2D.getUncompressedData());
r.uncompressData();
}
}
UDEBUG("");
return r;
}