Added badSignaturesIgnored parameter, set to false will keep bad images in memory and in the map's graph (useful on RGBD-SLAM with TORO optimizations to propagate more equally errors to nodes with blank images)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1063 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/Memory.h

@@ -196,6 +196,7 @@ private:
 	float _recentWmRatio;
 	bool _idUpdatedToNewOneRehearsal;
 	bool _generateIds;
+	bool _badSignaturesIgnored;
 
 	int _idCount;
 	int _idMapCount;

corelib/include/rtabmap/core/Parameters.h

@@ -148,7 +148,8 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Mem, IncrementalMemory, 	    bool, true, 	"SLAM mode, othwersize it is Localization mode.");
 	RTABMAP_PARAM(Mem, RecentWmRatio,           float, 0.2, 	"Ratio of locations after the last loop closure in WM that cannot be transferred.");
 	RTABMAP_PARAM(Mem, RehearsalIdUpdatedToNewOne, bool, false, "On merge, update to new id. When false, no copy.");
-	RTABMAP_PARAM(Mem, GenerateIds,             bool, true,     "True=Generate location Ids, False=use input image ids.")
+	RTABMAP_PARAM(Mem, GenerateIds,             bool, true,     "True=Generate location Ids, False=use input image ids.");
+	RTABMAP_PARAM(Mem, BadSignaturesIgnored,    bool, true,     "Bad signatures are ignored.")
 
 	// KeypointMemory (Keypoint-based)
 	RTABMAP_PARAM(Kp, PublishKeypoints,      bool, true, 		"Publishing keypoints.");

corelib/src/Memory.cpp

@@ -54,6 +54,7 @@ Memory::Memory(const ParametersMap & parameters) :
 	_recentWmRatio(Parameters::defaultMemRecentWmRatio()),
 	_idUpdatedToNewOneRehearsal(Parameters::defaultMemRehearsalIdUpdatedToNewOne()),
 	_generateIds(Parameters::defaultMemGenerateIds()),
+	_badSignaturesIgnored(Parameters::defaultMemBadSignaturesIgnored()),
 	_idCount(kIdStart),
 	_idMapCount(kIdStart),
 	_lastSignature(0),
@@ -147,7 +148,7 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
 			for(std::list<Signature*>::reverse_iterator iter=dbSignatures.rbegin(); iter!=dbSignatures.rend(); ++iter)
 			{
 				// ignore bad signatures
-				if(!(*iter)->isBadSignature())
+				if(!((*iter)->isBadSignature() && _badSignaturesIgnored))
 				{
 					_signatures.insert(std::pair<int, Signature *>((*iter)->id(), *iter));
 					if((int)_stMem.size() <= _maxStMemSize)
@@ -286,6 +287,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
 	Parameters::parse(parameters, Parameters::kMemRehearsedNodesKept(), _keepRehearsedNodesInDb);
 	Parameters::parse(parameters, Parameters::kMemRehearsalIdUpdatedToNewOne(), _idUpdatedToNewOneRehearsal);
 	Parameters::parse(parameters, Parameters::kMemGenerateIds(), _generateIds);
+	Parameters::parse(parameters, Parameters::kMemBadSignaturesIgnored(), _badSignaturesIgnored);
 	Parameters::parse(parameters, Parameters::kMemRehearsalSimilarity(), _similarityThreshold);
 	Parameters::parse(parameters, Parameters::kMemRecentWmRatio(), _recentWmRatio);
 	Parameters::parse(parameters, Parameters::kMemSTMSize(), _maxStMemSize);
@@ -466,12 +468,6 @@ bool Memory::update(const Image & image, Statistics * stats)
 
 	_lastSignature = signature;
 
-	if(_lastLoopClosureId == 0 && !signature->isBadSignature())
-	{
-		// If not set use the new one added
-		_lastLoopClosureId = signature->id();
-	}
-
 	//============================================================
 	// Rehearsal step...
 	// Compare with the X last signatures. If different, add this
@@ -1233,7 +1229,7 @@ std::list<int> Memory::cleanup(const std::list<int> & ignoredIds)
 	std::list<int> signaturesRemoved;
 
 	// bad signature
-	if(_lastSignature->isBadSignature() || !_incrementalMemory)
+	if((_lastSignature->isBadSignature() && _badSignaturesIgnored) || !_incrementalMemory)
 	{
 		if(_lastSignature->isBadSignature())
 		{
@@ -1448,7 +1444,7 @@ void Memory::moveToTrash(Signature * s, bool saveToDatabase)
 	if(s)
 	{
 		// If not saved to database or it is a bad signature, remove links!
-		if(!saveToDatabase || s->isBadSignature())
+		if(!saveToDatabase || (s->isBadSignature() && _badSignaturesIgnored))
 		{
 			UASSERT_MSG(this->isInSTM(s->id()),
 					uFormat("Deleting location (%d) outside the STM is not implemented!", s->id()).c_str());

guilib/src/PreferencesDialog.cpp

@@ -310,6 +310,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->general_doubleSpinBox_recentWmRatio->setObjectName(Parameters::kMemRecentWmRatio().c_str());
 	_ui->general_checkBox_RehearsalIdUpdatedToNewOne->setObjectName(Parameters::kMemRehearsalIdUpdatedToNewOne().c_str());
 	_ui->general_checkBox_generateIds->setObjectName(Parameters::kMemGenerateIds().c_str());
+	_ui->general_checkBox_badSignaturesIgnored->setObjectName(Parameters::kMemBadSignaturesIgnored().c_str());
 
 	// Database
 	_ui->checkBox_dbInMemory->setObjectName(Parameters::kDbSqlite3InMemory().c_str());
@@ -1800,6 +1801,25 @@ void PreferencesDialog::addParameter(const QObject * object, bool value)
 		{
 			// Add parameter
 			_parameters.insert(rtabmap::ParametersPair(object->objectName().toStdString(), uBool2Str(value)));
+
+			if(value && checkbox == _ui->general_checkBox_activateRGBD)
+			{
+				// add all RGBD parameters!
+				this->addParameter(_ui->rgdb_linearUpdate, _ui->rgdb_linearUpdate->value());
+				this->addParameter(_ui->rgdb_angularUpdate, _ui->rgdb_linearUpdate->value());
+				this->addParameter(_ui->odomScanHistory, _ui->odomScanHistory->value());
+				this->addParameters(_ui->groupBox_local_loop_closure);
+
+				this->addParameters(_ui->groupBox_lcc_bow);
+				if(_ui->loopClosure_icpEnabled->isChecked())
+				{
+					this->addParameter(_ui->loopClosure_icpType, _ui->loopClosure_icpType->currentIndex());
+				}
+			}
+			if(value && checkbox == _ui->loopClosure_icpEnabled)
+			{
+				this->addParameter(_ui->loopClosure_icpType, _ui->loopClosure_icpType->currentIndex());
+			}
 		}
 		else
 		{

guilib/src/ui/preferencesDialog.ui

@@ -64,8 +64,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>955</width>
+            <width>939</width>
-            <height>685</height>
+            <height>724</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>9</number>
+                <number>12</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -2399,6 +2399,26 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                         </property>
                        </widget>
                       </item>
+                      <item row="4" column="1">
+                       <widget class="QLabel" name="label_retrieved_3">
+                        <property name="text">
+                         <string>Bad signatures are ignored.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="4" column="0">
+                       <widget class="QCheckBox" name="general_checkBox_badSignaturesIgnored">
+                        <property name="text">
+                         <string/>
+                        </property>
+                        <property name="checked">
+                         <bool>true</bool>
+                        </property>
+                       </widget>
+                      </item>
                      </layout>
                     </item>
                     <item>
@@ -3644,7 +3664,7 @@ Rigid transformations between nodes are saved on the neighbor links of the RTAB-
                      </layout>
                     </item>
                     <item>
-                     <widget class="QGroupBox" name="groupBox_3">
+                     <widget class="QGroupBox" name="groupBox_local_loop_closure">
                       <property name="title">
                        <string>Local loop closure detection</string>
                       </property>
@@ -4416,7 +4436,7 @@ Rigid transformations between nodes are saved on the neighbor links of the RTAB-
                      </widget>
                     </item>
                     <item>
-                     <widget class="QGroupBox" name="groupBox">
+                     <widget class="QGroupBox" name="groupBox_lcc_bow">
                       <property name="title">
                        <string>Guess transform</string>
                       </property>
@@ -4563,7 +4583,7 @@ Rigid transformations between nodes are saved on the neighbor links of the RTAB-
                     <item>
                      <widget class="QStackedWidget" name="stackedWidget_loopClosureICP">
                       <property name="currentIndex">
-                       <number>0</number>
+                       <number>1</number>
                       </property>
                       <widget class="QWidget" name="page_17">
                        <layout class="QVBoxLayout" name="verticalLayout_37">