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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
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corelib/src/Rtabmap.cpp
+30 -58
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@@ -246,31 +246,25 @@ void Rtabmap::flushStatisticLogs()
}
}
void Rtabmap::init(const ParametersMap & parameters, bool deleteMemory)
void Rtabmap::init(const ParametersMap & parameters, const std::string & databasePath)
{
if(deleteMemory)
ParametersMap::const_iterator iter;
if((iter=parameters.find(Parameters::kRtabmapWorkingDirectory())) != parameters.end())
{
// Set the working directory and database path before
ParametersMap::const_iterator iter;
if((iter=parameters.find(Parameters::kRtabmapWorkingDirectory())) != parameters.end())
{
this->setWorkingDirectory(iter->second.c_str());
}
if((iter=parameters.find(Parameters::kRtabmapDatabasePath())) != parameters.end())
{
this->setDatabasePath(iter->second.c_str());
}
Parameters::parse(parameters, Parameters::kRtabmapStatisticLogged(), _statisticLogged);
Parameters::parse(parameters, Parameters::kRtabmapStatisticLoggedHeaders(), _statisticLoggedHeaders);
this->resetMemory(true);
this->setWorkingDirectory(iter->second.c_str());
}
_databasePath = databasePath;
if(_databasePath.empty())
{
_databasePath = _wDir + Parameters::getDefaultDatabaseName();
}
UINFO("Using database \"%s\".", _databasePath.c_str());
this->parseParameters(parameters);
setupLogFiles();
}
void Rtabmap::init(const std::string & configFile, bool deleteMemory)
void Rtabmap::init(const std::string & configFile, const std::string & databasePath)
{
// fill ctrl struct with values from the configuration file
ParametersMap param;// = Parameters::defaultParameters;
@@ -281,7 +275,7 @@ void Rtabmap::init(const std::string & configFile, bool deleteMemory)
this->readParameters(configFile, param);
}
this->init(param, deleteMemory);
this->init(param, databasePath);
}
void Rtabmap::close()
@@ -313,20 +307,23 @@ void Rtabmap::close()
delete _bayesFilter;
_bayesFilter = 0;
}
_databasePath.clear();
}
void Rtabmap::parseParameters(const ParametersMap & parameters)
{
if(_databasePath.empty())
{
UERROR("RTAB-Map is not initialized. Call rtabmap::init() instead.");
return;
}
ULOGGER_DEBUG("");
ParametersMap::const_iterator iter;
if((iter=parameters.find(Parameters::kRtabmapWorkingDirectory())) != parameters.end())
{
this->setWorkingDirectory(iter->second.c_str());
}
if((iter=parameters.find(Parameters::kRtabmapDatabasePath())) != parameters.end())
{
this->setDatabasePath(iter->second.c_str());
}
Parameters::parse(parameters, Parameters::kRtabmapPublishStats(), _publishStats);
Parameters::parse(parameters, Parameters::kRtabmapPublishLastSignature(), _publishLastSignature);
@@ -380,7 +377,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
if(!_memory)
{
_memory = new Memory(parameters);
_memory->init(getDatabasePath(), false, parameters);
_memory->init(_databasePath, false, parameters, true);
//generate map
if(_rgbdSlamMode && _memory->getLastWorkingSignature())
@@ -429,11 +426,6 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
}
}
std::string Rtabmap::getDatabasePath() const
{
return _databasePath.empty()?_wDir + Parameters::getDefaultDatabaseName():_databasePath;
}
int Rtabmap::getLoopClosureId() const
{
return _lcHypothesisId;
@@ -647,7 +639,7 @@ void Rtabmap::generateTOROGraph(const std::string & path, bool optimized, bool g
}
}
void Rtabmap::resetMemory(bool dbOverwritten)
void Rtabmap::resetMemory()
{
_retrievedId = 0;
_lcHypothesisValue = 0;
@@ -660,7 +652,7 @@ void Rtabmap::resetMemory(bool dbOverwritten)
if(_memory)
{
_memory->init(getDatabasePath(), dbOverwritten);
_memory->init(_databasePath, true, ParametersMap(), true);
if(_memory->getLastWorkingSignature())
{
optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), false, _optimizedPoses, &_constraints);
@@ -670,13 +662,11 @@ void Rtabmap::resetMemory(bool dbOverwritten)
_bayesFilter->reset();
}
}
else if(dbOverwritten)
else
{
// May be memory should be already created here, and use init above...
UINFO("Erasing file : \"%s\"", getDatabasePath().c_str());
UFile::erase(getDatabasePath());
UERROR("RTAB-Map is not initialized. No memory to reset...");
}
this->setupLogFiles(dbOverwritten);
this->setupLogFiles(true);
}
//============================================================
@@ -1803,28 +1793,8 @@ void Rtabmap::setWorkingDirectory(std::string path)
}
}
void Rtabmap::setDatabasePath(const std::string & path)
{
if(!path.empty())
{
ULOGGER_DEBUG("Comparing new database path \"%s\" with \"%s\"", path.c_str(), _databasePath.c_str());
if(path.compare(_databasePath) != 0)
{
UDEBUG("Set new database path to \"%s\"", _databasePath.c_str());
_databasePath = path;
if(_memory)
{
UDEBUG("Reset memory!");
this->resetMemory();
}
}
}
else
{
ULOGGER_ERROR("Cannot set null database path!");
}
}
void Rtabmap::deleteLocation(int locationId)
{
if(_memory)
@@ -2238,10 +2208,12 @@ void Rtabmap::get3DMap(std::map<int, Signature> & signatures,
for(std::set<int>::iterator iter = ids.begin(); iter!=ids.end(); ++iter)
{
UDEBUG("");
Signature data = _memory->getSignatureData(*iter);
UDEBUG("");
if(data.id() != Memory::kIdInvalid)
{
signatures.insert(std::make_pair(*iter, data));
signatures.insert(std::make_pair(*iter, Signature())).first->second = data;
mapIds.insert(std::make_pair(*iter, _memory->getMapId(*iter)));
}
}