Added parameter selection of actionsByTime or not (default true)

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

corelib/include/rtabmap/core/Parameters.h

@@ -131,6 +131,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM_STR(Rtabmap, WorkingDirectory, Parameters::getDefaultWorkingDirectory());	   // Working directory
 	RTABMAP_PARAM(Rtabmap, LocalGraphCleaned, bool, false);	   // Clean the neighborhood of the retrieved id
 	RTABMAP_PARAM(Rtabmap, MaxRetrieved,       unsigned int, 2); // Maximum locations retrieved at the same time from LTM
+	RTABMAP_PARAM(Rtabmap, ActionsByTime,       bool, true); // Select next actions based on the more recent neighbor of the current node, otherwise, weight is also used
 
 	// Hypotheses selection
 	RTABMAP_PARAM(Rtabmap, LoopThr,    	     float, 0.10); // Loop closing threshold

corelib/include/rtabmap/core/Rtabmap.h

@@ -133,6 +133,7 @@ private:
 	float _remThr;
 	bool _localGraphCleaned;
 	unsigned int _maxRetrieved;
+	bool _actionsByTime;
 
 	int _lcHypothesisId;
 	int _reactivateId;

corelib/src/Memory.cpp

@@ -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);
 		}

corelib/src/Rtabmap.cpp

@@ -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(_actionsByTime)
-				if(s && s->getWeight() > currentWeight)
 				{
-					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;
+					}
 				}
 			}
 		}

guilib/src/PreferencesDialog.cpp

@@ -110,6 +110,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->general_spinBox_imagesBufferSize->setObjectName(Parameters::kRtabmapSMStateBufferSize().c_str());
 	_ui->general_spinBox_minMemorySizeForLoopDetection->setObjectName(Parameters::kRtabmapMinMemorySizeForLoopDetection().c_str());
 	_ui->general_spinBox_maxRetrieved->setObjectName(Parameters::kRtabmapMaxRetrieved().c_str());
+	_ui->general_checkBox_actionsByTime->setObjectName(Parameters::kRtabmapActionsByTime().c_str());
 	_ui->lineEdit_workingDirectory->setObjectName(Parameters::kRtabmapWorkingDirectory().c_str());
 	connect(_ui->toolButton_workingDirectory, SIGNAL(clicked()), this, SLOT(changeWorkingDirectory()));
 

guilib/src/ui/preferencesDialog.ui

@@ -68,7 +68,7 @@
           <enum>QFrame::Raised</enum>
          </property>
          <property name="currentIndex">
-          <number>1</number>
+          <number>2</number>
          </property>
          <widget class="QWidget" name="page_22">
           <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -913,21 +913,21 @@ when using the file type, logs are saved in Logrtabmap.txt (located in the worki
                 </property>
                </widget>
               </item>
-              <item row="7" column="0">
+              <item row="8" column="0">
                <widget class="QLineEdit" name="lineEdit_workingDirectory">
                 <property name="readOnly">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
-              <item row="7" column="2">
+              <item row="8" column="2">
                <widget class="QLabel" name="label_87">
                 <property name="text">
                  <string>Working directory (where the database is saved/loaded)</string>
                 </property>
                </widget>
               </item>
-              <item row="7" column="1">
+              <item row="8" column="1">
                <widget class="QToolButton" name="toolButton_workingDirectory">
                 <property name="text">
                  <string>...</string>
@@ -957,6 +957,26 @@ when using the file type, logs are saved in Logrtabmap.txt (located in the worki
                 </property>
                </widget>
               </item>
+              <item row="7" column="0">
+               <widget class="QCheckBox" name="general_checkBox_actionsByTime">
+                <property name="text">
+                 <string/>
+                </property>
+                <property name="checked">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="7" column="2">
+               <widget class="QLabel" name="label_39">
+                <property name="text">
+                 <string>Select next actions based only on the more recent neighbor of the current node, otherwise, weight is also used.</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
              </layout>
             </widget>
            </item>
@@ -1053,8 +1073,8 @@ We can edit how will like the prediction used in the Bayes filter when there is
                     <rect>
                      <x>0</x>
                      <y>0</y>
-                     <width>98</width>
+                     <width>524</width>
-                     <height>78</height>
+                     <height>138</height>
                     </rect>
                    </property>
                    <layout class="QHBoxLayout" name="horizontalLayout_2">
@@ -1661,8 +1681,7 @@ see Sqlite3 doc 'PRAGMA journal_mode'</string>
               <item row="1" column="1">
                <widget class="QLabel" name="label_86">
                 <property name="text">
-                 <string>Database auto cleaning,
+                 <string>Database auto cleaning : don't save signature with a loop closure (only keeping the newest one).</string>
-delete old signatures in the database after run (the ones which will never be reactivated)</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>