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Updated version to 0.8.6: Added parameter Mem/TransferSortingByWeightId

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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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corelib/src/Rtabmap.cpp
+10 -8
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@@ -462,7 +462,7 @@ std::list<int> Rtabmap::getWM() const
std::list<int> mem;
if(_memory)
{
mem = std::list<int>(_memory->getWorkingMem().begin(), _memory->getWorkingMem().end());
mem = uKeysList(_memory->getWorkingMem());
mem.remove(-1);// Ignore the virtual signature (if here)
}
return mem;
@@ -991,9 +991,7 @@ bool Rtabmap::process(const SensorData & data)
// with all images contained in the working memory + reactivated.
//============================================================
ULOGGER_INFO("computing likelihood...");
const std::set<int> & wm = _memory->getWorkingMem();
std::list<int> signaturesToCompare(wm.begin(), wm.end());
std::list<int> signaturesToCompare = uKeysList(_memory->getWorkingMem());
rawLikelihood = _memory->computeLikelihood(signature, signaturesToCompare);
// Adjust the likelihood (with mean and std dev)
@@ -1309,6 +1307,11 @@ bool Rtabmap::process(const SensorData & data)
}
}
}
// update Age of the close signatures (oldest the farthest)
for(std::multimap<float, int>::reverse_iterator iter=nearNodesByDist.rbegin(); iter!=nearNodesByDist.rend(); ++iter)
{
_memory->updateAge(iter->second);
}
}
// insert them first to make sure they are loaded.
@@ -2257,8 +2260,7 @@ void Rtabmap::dumpPrediction() const
{
if(_memory && _bayesFilter)
{
const std::set<int> & wm = _memory->getWorkingMem();
cv::Mat prediction = _bayesFilter->generatePrediction(_memory, std::vector<int>(wm.begin(), wm.end()));
cv::Mat prediction = _bayesFilter->generatePrediction(_memory, uKeys(_memory->getWorkingMem()));
FILE* fout = 0;
std::string fileName = this->getWorkingDir() + "/DumpPrediction.txt";
@@ -2331,12 +2333,12 @@ void Rtabmap::get3DMap(std::map<int, Signature> & signatures,
// Get data
std::set<int> ids = _memory->getWorkingMem(); // STM + WM
std::set<int> ids = uKeysSet(_memory->getWorkingMem()); // WM
//remove virtual signature
ids.erase(Memory::kIdVirtual);
ids.insert(_memory->getStMem().begin(), _memory->getStMem().end());
ids.insert(_memory->getStMem().begin(), _memory->getStMem().end()); // STM + WM
if(global)
{
ids = _memory->getAllSignatureIds(); // STM + WM + LTM