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Added Mem/LocalizationDataSaved parameter

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This commit is contained in:
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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15
corelib/src/DBDriver.cpp
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@@ -935,6 +935,21 @@ void DBDriver::getLastNodeId(int & id) const
_dbSafeAccessMutex.unlock();
}
void DBDriver::getLastMapId(int & mapId) const
{
// look in the trash
_trashesMutex.lock();
if(_trashSignatures.size())
{
mapId = _trashSignatures.rbegin()->second->mapId();
}
_trashesMutex.unlock();
_dbSafeAccessMutex.lock();
this->getLastIdQuery("Node", mapId, "map_id");
_dbSafeAccessMutex.unlock();
}
void DBDriver::getLastWordId(int & id) const
{
// look in the trash

6
corelib/src/DBDriverSqlite3.cpp
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@@ -2555,18 +2555,18 @@ void DBDriverSqlite3::getAllLinksQuery(std::multimap<int, Link> & links, bool ig
}
}
void DBDriverSqlite3::getLastIdQuery(const std::string & tableName, int & id) const
void DBDriverSqlite3::getLastIdQuery(const std::string & tableName, int & id, const std::string & fieldName) const
{
if(_ppDb)
{
UDEBUG("get last id from table \"%s\"", tableName.c_str());
UDEBUG("get last %s from table \"%s\"", fieldName.c_str(), tableName.c_str());
UTimer timer;
timer.start();
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
std::stringstream query;
query << "SELECT max(id) "
query << "SELECT max(" << fieldName << ") "
<< "FROM " << tableName
<< ";";

10
corelib/src/Memory.cpp
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@@ -80,6 +80,7 @@ Memory::Memory(const ParametersMap & parameters) :
_saveIntermediateNodeData(Parameters::defaultMemIntermediateNodeDataKept()),
_rgbCompressionFormat(Parameters::defaultMemImageCompressionFormat()),
_incrementalMemory(Parameters::defaultMemIncrementalMemory()),
_localizationDataSaved(Parameters::defaultMemLocalizationDataSaved()),
_reduceGraph(Parameters::defaultMemReduceGraph()),
_maxStMemSize(Parameters::defaultMemSTMSize()),
_recentWmRatio(Parameters::defaultMemRecentWmRatio()),
@@ -345,7 +346,9 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
// Last id
_dbDriver->getLastNodeId(_idCount);
_idMapCount = _lastSignature?_lastSignature->mapId()+1:kIdStart;
_idMapCount = -1;
_dbDriver->getLastMapId(_idMapCount);
++_idMapCount;
// Now load the dictionary if we have a connection
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Loading dictionary..."));
@@ -571,6 +574,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(params, Parameters::kRGBDMarkerDetection(), _detectMarkers);
Parameters::parse(params, Parameters::kMarkerVarianceLinear(), _markerLinVariance);
Parameters::parse(params, Parameters::kMarkerVarianceAngular(), _markerAngVariance);
Parameters::parse(params, Parameters::kMemLocalizationDataSaved(), _localizationDataSaved);
UASSERT_MSG(_maxStMemSize >= 0, uFormat("value=%d", _maxStMemSize).c_str());
UASSERT_MSG(_similarityThreshold >= 0.0f && _similarityThreshold <= 1.0f, uFormat("value=%f", _similarityThreshold).c_str());
@@ -864,7 +868,7 @@ bool Memory::update(
}
if(stats) stats->setReducedIds(reducedIds);
if(!_memoryChanged && _incrementalMemory)
if(!_memoryChanged && (_incrementalMemory || _localizationDataSaved))
{
_memoryChanged = true;
}
@@ -2407,7 +2411,7 @@ void Memory::moveToTrash(Signature * s, bool keepLinkedToGraph, std::list<int> *
if( (_notLinkedNodesKeptInDb || keepLinkedToGraph || s->isSaved()) &&
_dbDriver &&
s->id()>0 &&
(_incrementalMemory || s->isSaved()))
(_incrementalMemory || s->isSaved() || _localizationDataSaved))
{
if(keepLinkedToGraph)
{

2
corelib/src/Rtabmap.cpp
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@@ -3541,7 +3541,7 @@ bool Rtabmap::process(
}
//Save statistics to database
if(_memory->isIncremental())
if(_memory->isIncremental() || _memory->isLocalizationDataSaved())
{
_memory->saveStatistics(statistics_);
}