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Added parameter selection of actionsByTime or not (default true)

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Now if parameter databaseCleaned is false, "all" signatures are saved, otherwise, only those with no parent loop closure


git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@84 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-08 20:00:14 +00:00
parent 7407657b23
commit edf8bbb735
6 changed files with 50 additions and 13 deletions
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2
corelib/src/Memory.cpp
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@@ -963,7 +963,7 @@ void Memory::moveToTrash(Signature * s)
_dbDriver &&
!s->isBadSignature() &&
s->id()>0 &&
(s->getLoopClosureId() == 0 || s->isSaved()))
((s->getLoopClosureId() == 0 || s->isSaved()) || !_databaseCleaned))
{
_dbDriver->asyncSave(s);
}

23
corelib/src/Rtabmap.cpp
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@@ -63,6 +63,7 @@ Rtabmap::Rtabmap() :
_remThr(Parameters::defaultRtabmapReactivationThr()),
_localGraphCleaned(Parameters::defaultRtabmapLocalGraphCleaned()),
_maxRetrieved(Parameters::defaultRtabmapMaxRetrieved()),
_actionsByTime(Parameters::defaultRtabmapActionsByTime()),
_lcHypothesisId(0),
_reactivateId(0),
_highestHypothesisValue(0),
@@ -264,6 +265,10 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
{
_maxRetrieved = std::atoi(iter->second.c_str());
}
if((iter=parameters.find(Parameters::kRtabmapActionsByTime())) != parameters.end())
{
_actionsByTime = uStr2Bool(iter->second.c_str());
}
// By default, we create our strategies if they are not already created.
@@ -950,7 +955,9 @@ void Rtabmap::process()
if(sLoop)
{
// select the actions of the neighbor with the highest
// weight (select the more recent is some have the same weight)
// weight (select the more recent if some have the same weight)
// OR
// select the newest one (with actions)
const NeighborsMap & neighbors = sLoop->getNeighbors();
const Signature * s;
int currentWeight = -1;
@@ -958,11 +965,19 @@ void Rtabmap::process()
{
if(iter->second.size())
{
s = _memory->getSignature(iter->first);
if(s && s->getWeight() > currentWeight)
if(_actionsByTime)
{
currentWeight = s->getWeight();
_actions = iter->second;
break;
}
else // use also weight
{
s = _memory->getSignature(iter->first);
if(s && s->getWeight() > currentWeight)
{
currentWeight = s->getWeight();
_actions = iter->second;
}
}
}
}