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Fixed saving/loading dictionary (not loaded words)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@676 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-12-12 16:40:18 +00:00
parent aab425e583
commit bb2fbc67e0
6 changed files with 207 additions and 73 deletions
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corelib/src/Memory.cpp
+26 -8
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@@ -139,14 +139,15 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
// Now load the dictionary if we have a connection
if(_vwd && _dbDriver && _dbDriver->isConnected())
if(_dbDriver && _dbDriver->isConnected())
{
UEventsManager::post(new RtabmapEventInit(std::string("Loading dictionary...")));
_dbDriver->load(_vwd);
UDEBUG("%d words loaded!", _vwd->getVisualWords().size());
UEventsManager::post(new RtabmapEventInit(std::string("Loading dictionary, done! (") + uNumber2Str(int(_vwd->getVisualWords().size())) + " loaded)"));
UDEBUG("%d words loaded!", _vwd->getUnusedWordsSize());
UEventsManager::post(new RtabmapEventInit(std::string("Loading dictionary, done! (") + uNumber2Str(int(_vwd->getUnusedWordsSize())) + " words)"));
}
UEventsManager::post(new RtabmapEventInit(std::string("Adding word references...")));
// Enable loaded signatures
Signature * ss;
const std::map<int, Signature *> & signatures = this->getSignatures();
@@ -155,14 +156,26 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
ss = this->_getSignature(i->first);
if(ss)
{
ss->setEnabled(true);
const std::multimap<int, cv::KeyPoint> & words = ss->getWords();
if(words.size())
{
UDEBUG("node=%d, word references=%d", ss->id(), words.size());
for(std::multimap<int, cv::KeyPoint>::const_iterator iter = words.begin(); iter!=words.end(); ++iter)
{
_vwd->addWordRef(iter->first, i->first);
}
ss->setEnabled(true);
}
}
}
if(_vwd)
UEventsManager::post(new RtabmapEventInit(uFormat("Adding word references, done! (%d)", _vwd->getTotalActiveReferences())));
if(_vwd->getUnusedWordsSize())
{
ULOGGER_DEBUG("Total word reference added = %d", _vwd->getTotalActiveReferences());
UWARN("_vwd->getUnusedWordsSize() must be empty... size=%d", _vwd->getUnusedWordsSize());
}
ULOGGER_DEBUG("Total word references added = %d", _vwd->getTotalActiveReferences());
return success;
}
@@ -857,6 +870,11 @@ void Memory::clear()
ULOGGER_ERROR("_stMem must be empty here, size=%d", _stMem.size());
}
_stMem.clear();
if(_signatures.size()!=0)
{
ULOGGER_ERROR("_signatures must be empty here, size=%d", _signatures.size());
}
_signatures.clear();
ULOGGER_DEBUG("");
// Wait until the db trash has finished cleaning the memory
@@ -2211,7 +2229,7 @@ void Memory::disableWordsRef(int signatureId)
count -= _vwd->getTotalActiveReferences();
ss->setEnabled(false);
ULOGGER_DEBUG("%d words total ref removed from signature %d...", count, ss->id());
ULOGGER_DEBUG("%d words total ref removed from signature %d... (total active ref = %d)", count, ss->id(), _vwd->getTotalActiveReferences());
}
}
@@ -2229,7 +2247,7 @@ void Memory::cleanUnusedWords()
for(unsigned int i=0; i<removedWords.size(); ++i)
{
if(_dbDriver && !removedWords[i]->isSaved())
if(_dbDriver)
{
_dbDriver->asyncSave(removedWords[i]);
}