i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added DBDriver::setTimestampUpdateEnabled()

Browse Source 
Don't update timestamps if only links are modified
This commit is contained in:
Mathieu Labbe
2015-02-04 17:40:16 -05:00
parent 09625b766e
commit f8b625c7c7
10 changed files with 136 additions and 72 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
corelib/include/rtabmap/core/DBDriver.h
View File

@@ -72,6 +72,7 @@ public:
void asyncSave(VisualWord * vw); //ownership transferred
void emptyTrashes(bool async = false);
double getEmptyTrashesTime() const {return _emptyTrashesTime;}
void setTimestampUpdateEnabled(bool enabled) {_timestampUpdate = enabled;} // used on Update Signature and Word queries
public:
void addStatisticsAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize) const;
@@ -121,8 +122,8 @@ private:
virtual void saveQuery(const std::list<Signature *> & signatures) const = 0;
virtual void saveQuery(const std::list<VisualWord *> & words) const = 0;
virtual void updateQuery(const std::list<Signature *> & signatures) const = 0;
virtual void updateQuery(const std::list<VisualWord *> & words) const = 0;
virtual void updateQuery(const std::list<Signature *> & signatures, bool updateTimestamp) const = 0;
virtual void updateQuery(const std::list<VisualWord *> & words, bool updateTimestamp) const = 0;
// Load objects
@@ -157,6 +158,7 @@ private:
USemaphore _addSem;
double _emptyTrashesTime;
std::string _url;
bool _timestampUpdate;
};
}

9
corelib/include/rtabmap/core/Memory.h
View File

@@ -80,8 +80,8 @@ public:
std::list<int> cleanup(const std::list<int> & ignoredIds = std::list<int>());
void emptyTrash();
void joinTrashThread();
bool addLoopClosureLink(int oldId, int newId, const Transform & transform, Link::Type type, float variance);
void updateNeighborLink(int fromId, int toId, const Transform & transform, float variance);
bool addLink(int to, int from, const Transform & transform, Link::Type type, float variance);
void updateLink(int fromId, int toId, const Transform & transform, float variance);
void removeAllVirtualLinks();
std::map<int, int> getNeighborsId(int signatureId,
int margin,
@@ -90,7 +90,7 @@ public:
bool ignoreLoopIds = false,
double * dbAccessTime = 0) const;
void deleteLocation(int locationId, std::list<int> * deletedWords = 0);
void rejectLoopClosure(int oldId, int newId);
void removeLink(int idA, int idB);
//getters
const std::set<int> & getWorkingMem() const {return _workingMem;}
@@ -214,7 +214,8 @@ private:
Signature * _lastSignature;
int _lastGlobalLoopClosureParentId;
int _lastGlobalLoopClosureChildId;
bool _memoryChanged; // False by default, become true when Memory::update() is called.
bool _memoryChanged; // False by default, become true only when Memory::update() is called.
bool _linksChanged; // False by default, become true when links are modified.
int _signaturesAdded;
bool _postInitClosingEvents;