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0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)

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matlabbe
2017-03-12 21:21:09 -04:00
parent c12980ee91
commit d21ae76fff
56 changed files with 1869 additions and 662 deletions
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1
corelib/include/rtabmap/core/Memory.h
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@@ -255,6 +255,7 @@ private:
bool _mapLabelsAdded;
int _imagePreDecimation;
int _imagePostDecimation;
bool _compressionParallelized;
float _laserScanDownsampleStepSize;
int _laserScanNormalK;
bool _reextractLoopClosureFeatures;

2
corelib/include/rtabmap/core/OdometryThread.h
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@@ -45,7 +45,7 @@ public:
virtual ~OdometryThread();
protected:
virtual void handleEvent(UEvent * event);
virtual bool handleEvent(UEvent * event);
private:
virtual void mainLoopBegin();

3
corelib/include/rtabmap/core/Parameters.h
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@@ -175,7 +175,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Rtabmap, PublishLikelihood, bool, true, "Publishing likelihood.");
RTABMAP_PARAM(Rtabmap, TimeThr, float, 0, "Maximum time allowed for the detector (ms) (0 means infinity).");
RTABMAP_PARAM(Rtabmap, MemoryThr, int, 0, "Maximum signatures in the Working Memory (ms) (0 means infinity).");
RTABMAP_PARAM(Rtabmap, DetectionRate, float, 1, "Detection rate. RTAB-Map will filter input images to satisfy this rate.");
RTABMAP_PARAM(Rtabmap, DetectionRate, float, 1, "Detection rate (Hz). RTAB-Map will filter input images to satisfy this rate.");
RTABMAP_PARAM(Rtabmap, ImageBufferSize, unsigned int, 1, "Data buffer size (0 min inf).");
RTABMAP_PARAM(Rtabmap, CreateIntermediateNodes, bool, false, uFormat("Create intermediate nodes between loop closure detection. Only used when %s>0.", kRtabmapDetectionRate().c_str()));
RTABMAP_PARAM_STR(Rtabmap, WorkingDirectory, "", "Working directory.");
@@ -209,6 +209,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
RTABMAP_PARAM(Mem, ImagePreDecimation, int, 1, "Image decimation (>=1) before features extraction. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).");
RTABMAP_PARAM(Mem, ImagePostDecimation, int, 1, "Image decimation (>=1) of saved data in created signatures (after features extraction). Decimation is done from the original image. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).");
RTABMAP_PARAM(Mem, CompressionParallelized, bool, true, "Compression of sensor data is multi-threaded.");
RTABMAP_PARAM(Mem, LaserScanDownsampleStepSize, int, 1, "If > 1, downsample the laser scans when creating a signature.");
RTABMAP_PARAM(Mem, LaserScanNormalK, int, 0, "If > 0 and laser scans are 3D without normals, normals will be computed with K search neighbors when creating a signature.");
RTABMAP_PARAM(Mem, UseOdomFeatures, bool, false, "Use odometry features.");

13
corelib/include/rtabmap/core/ProgressState.h
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@@ -32,11 +32,24 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
class ProgressState
{
public:
ProgressState():canceled_(false){}
virtual bool callback(const std::string & msg) const
{
return true;
}
virtual ~ProgressState(){}
void setCanceled(bool canceled)
{
canceled_ = canceled;
}
bool isCanceled() const
{
return canceled_;
}
private:
bool canceled_;
};

6
corelib/include/rtabmap/core/RtabmapThread.h
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@@ -82,6 +82,10 @@ public:
void setDataBufferSize(unsigned int bufferSize);
void createIntermediateNodes(bool enabled);
float getDetectorRate() const {return _rate;}
unsigned int getDataBufferSize() const {return _dataBufferMaxSize;}
bool getCreateIntermediateNodes() const {return _createIntermediateNodes;}
/**
* Close rtabmap. This will delete rtabmap object if set.
* @param databaseSaved true=database saved, false=database discarded.
@@ -92,7 +96,7 @@ public:
void close(bool databaseSaved, const std::string & databasePath = "");
protected:
virtual void handleEvent(UEvent * anEvent);
virtual bool handleEvent(UEvent * anEvent);
private:
virtual void mainLoopBegin();