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Added Mem/LocalizationDataSaved parameter

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matlabbe
2020-04-05 19:21:20 -04:00
parent e83838f744
commit cdff33b1c2
11 changed files with 59 additions and 12 deletions
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3
corelib/include/rtabmap/core/DBDriver.h
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@@ -173,6 +173,7 @@ public:
void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false, bool ignoreBadSignatures = false) const;
void getAllLinks(std::multimap<int, Link> & links, bool ignoreNullLinks = true, bool withLandmarks = false) const;
void getLastNodeId(int & id) const;
void getLastMapId(int & mapId) const;
void getLastWordId(int & id) const;
void getInvertedIndexNi(int signatureId, int & ni) const;
void getNodesObservingLandmark(int landmarkId, std::map<int, Link> & nodes) const;
@@ -274,7 +275,7 @@ protected:
virtual void getLastNodeIdsQuery(std::set<int> & ids) const = 0;
virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const = 0;
virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks, bool withLandmarks) const = 0;
virtual void getLastIdQuery(const std::string & tableName, int & id) const = 0;
virtual void getLastIdQuery(const std::string & tableName, int & id, const std::string & fieldName="id") const = 0;
virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const = 0;
virtual void getNodesObservingLandmarkQuery(int landmarkId, std::map<int, Link> & nodes) const = 0;
virtual void getNodeIdByLabelQuery(const std::string & label, int & id) const = 0;

2
corelib/include/rtabmap/core/DBDriverSqlite3.h
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@@ -143,7 +143,7 @@ protected:
virtual void getLastNodeIdsQuery(std::set<int> & ids) const;
virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const;
virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks, bool withLandmarks) const;
virtual void getLastIdQuery(const std::string & tableName, int & id) const;
virtual void getLastIdQuery(const std::string & tableName, int & id, const std::string & fieldName="id") const;
virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const;
virtual void getNodesObservingLandmarkQuery(int landmarkId, std::map<int, Link> & nodes) const;
virtual void getNodeIdByLabelQuery(const std::string & label, int & id) const;

2
corelib/include/rtabmap/core/Memory.h
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@@ -209,6 +209,7 @@ public:
std::set<int> getAllSignatureIds() const;
bool memoryChanged() const {return _memoryChanged;}
bool isIncremental() const {return _incrementalMemory;}
bool isLocalizationDataSaved() const {return _localizationDataSaved;}
const Signature * getSignature(int id) const;
bool isInSTM(int signatureId) const {return _stMem.find(signatureId) != _stMem.end();}
bool isInWM(int signatureId) const {return _workingMem.find(signatureId) != _workingMem.end();}
@@ -291,6 +292,7 @@ private:
bool _saveIntermediateNodeData;
std::string _rgbCompressionFormat;
bool _incrementalMemory;
bool _localizationDataSaved;
bool _reduceGraph;
int _maxStMemSize;
float _recentWmRatio;

1
corelib/include/rtabmap/core/Parameters.h
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@@ -207,6 +207,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM_STR(Mem, ImageCompressionFormat, ".jpg", "RGB image compression format. It should be \".jpg\" or \".png\".");
RTABMAP_PARAM(Mem, STMSize, unsigned int, 10, "Short-term memory size.");
RTABMAP_PARAM(Mem, IncrementalMemory, bool, true, "SLAM mode, otherwise it is Localization mode.");
RTABMAP_PARAM(Mem, LocalizationDataSaved, bool, false, uFormat("Save localization data during localization session (when %s=false). When enabled, the database will then also grow in localization mode. This mode would be used only for debugging purpose.", kMemIncrementalMemory().c_str()).c_str());
RTABMAP_PARAM(Mem, ReduceGraph, bool, false, "Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set).");
RTABMAP_PARAM(Mem, RecentWmRatio, float, 0.2, "Ratio of locations after the last loop closure in WM that cannot be transferred.");
RTABMAP_PARAM(Mem, TransferSortingByWeightId, bool, false, "On transfer, signatures are sorted by weight->ID only (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight->Age->ID (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID.");