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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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corelib/include/rtabmap/core/DBDriver.h
+2 -1
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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;
corelib/include/rtabmap/core/DBDriverSqlite3.h
+1 -1
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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;
corelib/include/rtabmap/core/Memory.h
+2
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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;
corelib/include/rtabmap/core/Parameters.h
+1
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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.");
corelib/src/DBDriver.cpp
+15
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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
corelib/src/DBDriverSqlite3.cpp
+3 -3
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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
<< ";";
corelib/src/Memory.cpp
+7 -3
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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)
{
corelib/src/Rtabmap.cpp
+1 -1
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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_);
}
guilib/src/DatabaseViewer.cpp
+1 -1
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@@ -1711,7 +1711,7 @@ void DatabaseViewer::updateIds()
previousPose=p;
//links
bool addPose = false;
bool addPose = links.find(ids_[i]) == links.end();
for(std::multimap<int, Link>::iterator jter=links.find(ids_[i]); jter!=links.end() && jter->first == ids_[i]; ++jter)
{
if(jter->second.type() == Link::kNeighborMerged)
guilib/src/PreferencesDialog.cpp
+1
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@@ -806,6 +806,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->general_spinBox_maxStMemSize->setObjectName(Parameters::kMemSTMSize().c_str());
_ui->doubleSpinBox_similarityThreshold->setObjectName(Parameters::kMemRehearsalSimilarity().c_str());
_ui->general_checkBox_SLAM_mode->setObjectName(Parameters::kMemIncrementalMemory().c_str());
_ui->general_checkBox_saveLocalizationData->setObjectName(Parameters::kMemLocalizationDataSaved().c_str());
_ui->general_doubleSpinBox_recentWmRatio->setObjectName(Parameters::kMemRecentWmRatio().c_str());
_ui->general_checkBox_transferSortingByWeightId->setObjectName(Parameters::kMemTransferSortingByWeightId().c_str());
_ui->general_checkBox_RehearsalIdUpdatedToNewOne->setObjectName(Parameters::kMemRehearsalIdUpdatedToNewOne().c_str());
guilib/src/ui/preferencesDialog.ui
+25 -2
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@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-1162</y>
<y>0</y>
<width>680</width>
<height>3157</height>
</rect>
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>1</number>
<number>7</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -7512,6 +7512,29 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_573">
<property name="text">
<string>Save localization data during localization session (when SLAM mode is false). When enabled, the database will then also grow in localization mode. This mode would be used only for debugging purpose.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QCheckBox" name="general_checkBox_saveLocalizationData">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>