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Updated version to 0.8.6: Added parameter Mem/TransferSortingByWeightId

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This commit is contained in:
Mathieu Labbe
2015-03-09 15:25:51 -04:00
parent 49fcf732af
commit d77b0dfb14
8 changed files with 115 additions and 74 deletions
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6
corelib/include/rtabmap/core/Memory.h
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@@ -73,6 +73,7 @@ public:
std::map<int, float> computeLikelihood(const Signature * signature,
const std::list<int> & ids);
int incrementMapId();
void updateAge(int signatureId);
std::list<int> forget(const std::set<int> & ignoredIds = std::set<int>());
std::set<int> reactivateSignatures(const std::list<int> & ids, unsigned int maxLoaded, double & timeDbAccess);
@@ -93,7 +94,7 @@ public:
void removeLink(int idA, int idB);
//getters
const std::set<int> & getWorkingMem() const {return _workingMem;}
const std::map<int, double> & getWorkingMem() const {return _workingMem;}
const std::set<int> & getStMem() const {return _stMem;}
int getMaxStMemSize() const {return _maxStMemSize;}
std::map<int, Link> getNeighborLinks(int signatureId,
@@ -212,6 +213,7 @@ private:
bool _incrementalMemory;
int _maxStMemSize;
float _recentWmRatio;
bool _transferSortingByWeightId;
bool _idUpdatedToNewOneRehearsal;
bool _generateIds;
bool _badSignaturesIgnored;
@@ -231,7 +233,7 @@ private:
std::map<int, Signature *> _signatures; // TODO : check if a signature is already added? although it is not supposed to occur...
std::set<int> _stMem; // id
std::set<int> _workingMem; // id,age
std::map<int, double> _workingMem; // id,age
//Keypoint stuff
VWDictionary * _vwd;

7
corelib/include/rtabmap/core/Parameters.h
View File

@@ -185,12 +185,13 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, RehearsalSimilarity, float, 0.6, "Rehearsal similarity.");
RTABMAP_PARAM(Mem, ImageKept, bool, false, "Keep raw images in RAM.");
RTABMAP_PARAM(Mem, BinDataKept, bool, true, "Keep binary data in db.");
RTABMAP_PARAM(Mem, RehearsedNodesKept, bool, true, "Keep rehearsed ndoes in db.");
RTABMAP_PARAM(Mem, RehearsedNodesKept, bool, true, "Keep rehearsed nodes in db.");
RTABMAP_PARAM(Mem, STMSize, unsigned int, 10, "Short-term memory size.");
RTABMAP_PARAM(Mem, IncrementalMemory, bool, true, "SLAM mode, othwersize it is Localization mode.");
RTABMAP_PARAM(Mem, IncrementalMemory, bool, true, "SLAM mode, otherwise it is Localization mode.");
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.");
RTABMAP_PARAM(Mem, RehearsalIdUpdatedToNewOne, bool, false, "On merge, update to new id. When false, no copy.");
RTABMAP_PARAM(Mem, GenerateIds, bool, true, "True=Generate location Ids, False=use input image ids.");
RTABMAP_PARAM(Mem, GenerateIds, bool, true, "True=Generate location IDs, False=use input image IDs.");
RTABMAP_PARAM(Mem, BadSignaturesIgnored, bool, false, "Bad signatures are ignored.");
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, ImageDecimation, int, 1, "Image decimation (>=1).");