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merged master to 0.11.0

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This commit is contained in:
matlabbe
2015-11-30 19:39:05 -05:00
parent e58f907440 38fd459c7b
commit fc47d07b85
9 changed files with 273 additions and 186 deletions
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corelib/src/Memory.cpp
+28 -17
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@@ -80,6 +80,7 @@ Memory::Memory(const ParametersMap & parameters) :
_idUpdatedToNewOneRehearsal(Parameters::defaultMemRehearsalIdUpdatedToNewOne()),
_generateIds(Parameters::defaultMemGenerateIds()),
_badSignaturesIgnored(Parameters::defaultMemBadSignaturesIgnored()),
_mapLabelsAdded(Parameters::defaultMemMapLabelsAdded()),
_imageDecimation(Parameters::defaultMemImageDecimation()),
_laserScanDownsampleStepSize(Parameters::defaultMemLaserScanDownsampleStepSize()),
_reextractLoopClosureFeatures(Parameters::defaultRGBDLoopClosureReextractFeatures()),
@@ -132,7 +133,7 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
if(_postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Clearing memory..."));
DBDriver * tmpDriver = 0;
if(!_memoryChanged && !_linksChanged)
if((!_memoryChanged && !_linksChanged) || dbOverwritten)
{
if(_dbDriver)
{
@@ -392,6 +393,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kMemRehearsalIdUpdatedToNewOne(), _idUpdatedToNewOneRehearsal);
Parameters::parse(parameters, Parameters::kMemGenerateIds(), _generateIds);
Parameters::parse(parameters, Parameters::kMemBadSignaturesIgnored(), _badSignaturesIgnored);
Parameters::parse(parameters, Parameters::kMemMapLabelsAdded(), _mapLabelsAdded);
Parameters::parse(parameters, Parameters::kMemRehearsalSimilarity(), _similarityThreshold);
Parameters::parse(parameters, Parameters::kMemRecentWmRatio(), _recentWmRatio);
Parameters::parse(parameters, Parameters::kMemTransferSortingByWeightId(), _transferSortingByWeightId);
@@ -410,19 +412,6 @@ void Memory::parseParameters(const ParametersMap & parameters)
UASSERT(_rehearsalMaxDistance >= 0.0f);
UASSERT(_rehearsalMaxAngle >= 0.0f);
// SLAM mode vs Localization mode
iter = parameters.find(Parameters::kMemIncrementalMemory());
if(iter != parameters.end())
{
bool value = uStr2Bool(iter->second.c_str());
if(value == false && _incrementalMemory)
{
// From SLAM to localization, change map id
this->incrementMapId();
}
_incrementalMemory = value;
}
if(_dbDriver)
{
_dbDriver->parseParameters(parameters);
@@ -479,7 +468,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
else if(_feature2D)
{
_feature2D->parseParameters(parameters);
}
}
if(_registrationVis)
{
@@ -488,7 +477,29 @@ void Memory::parseParameters(const ParametersMap & parameters)
if(_registrationIcp)
{
_registrationIcp->parseParameters(parameters);
}
}
// do this after all parameters are parsed
// SLAM mode vs Localization mode
iter = parameters.find(Parameters::kMemIncrementalMemory());
if(iter != parameters.end())
{
bool value = uStr2Bool(iter->second.c_str());
if(value == false && _incrementalMemory)
{
// From SLAM to localization, change map id
this->incrementMapId();
// The easiest way to make sure that the mapping session is saved
// is to save the memory in the database and reload it.
if((_memoryChanged || _linksChanged) && _dbDriver)
{
UWARN("Switching from Mapping to Localization mode, the database will be saved and reloaded.");
this->init(_dbDriver->getUrl());
}
}
_incrementalMemory = value;
}
}
void Memory::preUpdate()
@@ -697,7 +708,7 @@ void Memory::addSignatureToStm(Signature * signature, const cv::Mat & covariance
}
}
}
else
else if(_mapLabelsAdded)
{
//Tag the first node of the map
std::string tag = uFormat("map%d", signature->mapId());