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DatabaseViewer: ask saving changes to database on Exit

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New parameter: Mem/InitWMWithAllNodes

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1680 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-09-21 21:14:17 +00:00
parent a98f819821
commit c4408920f6
7 changed files with 252 additions and 71 deletions
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21
corelib/src/Memory.cpp
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@@ -110,6 +110,8 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
UDEBUG("");
this->parseParameters(parameters);
bool loadAllNodesInWM = Parameters::defaultMemInitWMWithAllNodes();
Parameters::parse(parameters, Parameters::kMemInitWMWithAllNodes(), loadAllNodesInWM);
if(postInitEvents) UEventsManager::post(new RtabmapEventInit("Clearing memory..."));
DBDriver * tmpDriver = 0;
@@ -152,9 +154,21 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
if(postInitEvents) UEventsManager::post(new RtabmapEventInit(std::string("Connecting to database ") + dbUrl + ", done!"));
// Load the last working memory...
if(postInitEvents) UEventsManager::post(new RtabmapEventInit(std::string("Loading last signatures...")));
std::list<Signature*> dbSignatures;
_dbDriver->loadLastNodes(dbSignatures);
if(loadAllNodesInWM)
{
if(postInitEvents) UEventsManager::post(new RtabmapEventInit(std::string("Loading all nodes to WM...")));
std::set<int> ids;
_dbDriver->getAllNodeIds(ids);
_dbDriver->loadSignatures(std::list<int>(ids.begin(), ids.end()), dbSignatures);
}
else
{
// load previous session working memory
if(postInitEvents) 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)
{
// ignore bad signatures
@@ -175,7 +189,7 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
delete *iter;
}
}
if(postInitEvents) UEventsManager::post(new RtabmapEventInit(std::string("Loading last signatures, done! (") + uNumber2Str(int(_workingMem.size() + _stMem.size())) + " loaded)"));
if(postInitEvents) 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)
@@ -2130,6 +2144,7 @@ bool Memory::addLoopClosureLink(int oldId, int newId, const Transform & transfor
Signature * newS = _getSignature(newId);
if(oldS && newS)
{
_memoryChanged = true;
const std::map<int, Transform> & oldLoopclosureIds = oldS->getLoopClosureIds();
if(oldLoopclosureIds.size() && oldLoopclosureIds.find(newS->id()) != oldLoopclosureIds.end())
{