i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-08 02:57:46 +08:00
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/RtabmapThread.cpp
+38 -21
View File
@@ -168,6 +168,10 @@ void RtabmapThread::mainLoop()
case kStateDetecting:
this->process();
break;
case kStateInit:
UASSERT(!parameters.at("RtabmapThread/DatabasePath").empty());
_rtabmap->init(parameters, parameters.at("RtabmapThread/DatabasePath"));
break;
case kStateChangingParameters:
Parameters::parse(parameters, Parameters::kRtabmapImageBufferSize(), _dataBufferMaxSize);
Parameters::parse(parameters, Parameters::kRtabmapDetectionRate(), _rate);
@@ -179,6 +183,14 @@ void RtabmapThread::mainLoop()
_rtabmap->resetMemory();
this->clearBufferedData();
break;
case kStateClose:
if(_dataBuffer.size())
{
UWARN("Closing... %d data still buffered! They will be cleared.", (int)_dataBuffer.size());
this->clearBufferedData();
}
_rtabmap->close();
break;
case kStateDumpingMemory:
_rtabmap->dumpData();
break;
@@ -197,14 +209,6 @@ void RtabmapThread::mainLoop()
case kStateGeneratingTOROGraphGlobal:
_rtabmap->generateTOROGraph(parameters.at("path"), atoi(parameters.at("optimized").c_str())!=0, true);
break;
case kStateDeletingMemory:
if(!parameters.at("path").empty())
{
_rtabmap->setDatabasePath(parameters.at("path"));
}
_rtabmap->resetMemory(true);
this->clearBufferedData();
break;
case kStateCleanDataBuffer:
this->clearBufferedData();
break;
@@ -254,7 +258,20 @@ void RtabmapThread::handleEvent(UEvent* event)
{
RtabmapEventCmd * rtabmapEvent = (RtabmapEventCmd*)event;
RtabmapEventCmd::Cmd cmd = rtabmapEvent->getCmd();
if(cmd == RtabmapEventCmd::kCmdResetMemory)
if(cmd == RtabmapEventCmd::kCmdInit)
{
ULOGGER_DEBUG("CMD_INIT");
ParametersMap parameters = ((RtabmapEventCmd*)event)->getParameters();
UASSERT(!rtabmapEvent->getStr().empty());
UASSERT(parameters.insert(ParametersPair("RtabmapThread/DatabasePath", rtabmapEvent->getStr())).second);
pushNewState(kStateInit, parameters);
}
else if(cmd == RtabmapEventCmd::kCmdClose)
{
ULOGGER_DEBUG("CMD_CLOSE");
pushNewState(kStateClose);
}
else if(cmd == RtabmapEventCmd::kCmdResetMemory)
{
ULOGGER_DEBUG("CMD_RESET_MEMORY");
pushNewState(kStateReseting);
@@ -313,13 +330,6 @@ void RtabmapThread::handleEvent(UEvent* event)
pushNewState(kStateGeneratingTOROGraphGlobal, param);
}
else if(cmd == RtabmapEventCmd::kCmdDeleteMemory)
{
ULOGGER_DEBUG("CMD_DELETE_MEMORY");
ParametersMap param;
param.insert(ParametersPair("path", rtabmapEvent->getStr()));
pushNewState(kStateDeletingMemory, param);
}
else if(cmd == RtabmapEventCmd::kCmdCleanDataBuffer)
{
ULOGGER_DEBUG("CMD_CLEAN_DATA_BUFFER");
@@ -384,12 +394,19 @@ void RtabmapThread::process()
getData(data);
if(data.isValid())
{
_rtabmap->process(data);
if(_rtabmap->getMemory())
{
_rtabmap->process(data);
Statistics stats = _rtabmap->getStatistics();
stats.addStatistic(Statistics::kMemoryImages_buffered(), (float)_dataBuffer.size());
ULOGGER_DEBUG("posting statistics_ event...");
this->post(new RtabmapEvent(stats));
Statistics stats = _rtabmap->getStatistics();
stats.addStatistic(Statistics::kMemoryImages_buffered(), (float)_dataBuffer.size());
ULOGGER_DEBUG("posting statistics_ event...");
this->post(new RtabmapEvent(stats));
}
else
{
UERROR("RTAB-Map is not initialized! Ignoring received data...");
}
}
}