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Rtabmap::init() added loadDatabaseParameters argument for convenience (default false to be backward compatible)

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matlabbe
2020-06-08 10:35:12 -04:00
parent 6029b6283d
commit ff5695878c
4 changed files with 56 additions and 17 deletions
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corelib/include/rtabmap/core/Rtabmap.h
+26 -2
View File
@@ -86,8 +86,32 @@ public:
const cv::Mat & image,
int id=0, const std::map<std::string, float> & externalStats = std::map<std::string, float>());
void init(const ParametersMap & parameters, const std::string & databasePath = "");
void init(const std::string & configFile = "", const std::string & databasePath = "");
/**
* Initialize Rtabmap with parameters and a database
* @param parameters Parameters overriding default parameters and database parameters
* (@see loadDatabaseParameters)
* @param databasePath The database input/output path. If not set, an
* empty database is used in RAM. If set and the file doesn't exist,
* it will be created empty. If the database exists, nodes and
* vocabulary will be loaded in working memory.
* @param loadDatabaseParameters If an existing database is used (@see databasePath),
* the parameters inside are loaded and set to current
* Rtabmap instance.
*/
void init(const ParametersMap & parameters, const std::string & databasePath = "", bool loadDatabaseParameters = false);
/**
* Initialize Rtabmap with parameters from a configuration file and a database
* @param configFile Configuration file (*.ini) overriding default parameters and database parameters
* (@see loadDatabaseParameters)
* @param databasePath The database input/output path. If not set, an
* empty database is used in RAM. If set and the file doesn't exist,
* it will be created empty. If the database exists, nodes and
* vocabulary will be loaded in working memory.
* @param loadDatabaseParameters If an existing database is used (@see databasePath),
* the parameters inside are loaded and set to current
* Rtabmap instance.
*/
void init(const std::string & configFile = "", const std::string & databasePath = "", bool loadDatabaseParameters = false);
/**
* Close rtabmap. This will delete rtabmap object if set.
corelib/src/Rtabmap.cpp
+28 -13
View File
@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/EpipolarGeometry.h"
#include "rtabmap/core/DBDriver.h"
#include "rtabmap/core/Memory.h"
#include "rtabmap/core/VWDictionary.h"
#include "rtabmap/core/BayesFilter.h"
@@ -286,15 +287,9 @@ void Rtabmap::flushStatisticLogs()
}
}
void Rtabmap::init(const ParametersMap & parameters, const std::string & databasePath)
void Rtabmap::init(const ParametersMap & parameters, const std::string & databasePath, bool loadDatabaseParameters)
{
UDEBUG("path=%s", databasePath.c_str());
ParametersMap::const_iterator iter;
if((iter=parameters.find(Parameters::kRtabmapWorkingDirectory())) != parameters.end())
{
this->setWorkingDirectory(iter->second.c_str());
}
_databasePath = databasePath;
if(!_databasePath.empty())
{
@@ -308,15 +303,35 @@ void Rtabmap::init(const ParametersMap & parameters, const std::string & databas
bool newDatabase = _databasePath.empty() || !UFile::exists(_databasePath);
// If not exist, create a memory
ParametersMap allParameters;
if(!newDatabase && loadDatabaseParameters)
{
DBDriver * driver = DBDriver::create();
if(driver->openConnection(_databasePath, false))
{
allParameters = driver->getLastParameters();
// ignore working directory (we may be on a different computer)
allParameters.erase(Parameters::kRtabmapWorkingDirectory());
}
delete driver;
}
uInsert(allParameters, parameters);
ParametersMap::const_iterator iter;
if((iter=allParameters.find(Parameters::kRtabmapWorkingDirectory())) != allParameters.end())
{
this->setWorkingDirectory(iter->second.c_str());
}
// If doesn't exist, create a memory
if(!_memory)
{
_memory = new Memory(parameters);
_memory->init(_databasePath, false, parameters, true);
_memory = new Memory(allParameters);
_memory->init(_databasePath, false, allParameters, true);
}
// Parse all parameters
this->parseParameters(parameters);
this->parseParameters(allParameters);
Transform lastPose;
_optimizedPoses = _memory->loadOptimizedPoses(&lastPose);
@@ -347,7 +362,7 @@ void Rtabmap::init(const ParametersMap & parameters, const std::string & databas
setupLogFiles(newDatabase);
}
void Rtabmap::init(const std::string & configFile, const std::string & databasePath)
void Rtabmap::init(const std::string & configFile, const std::string & databasePath, bool loadDatabaseParameters)
{
// fill ctrl struct with values from the configuration file
ParametersMap param;// = Parameters::defaultParameters;
@@ -358,7 +373,7 @@ void Rtabmap::init(const std::string & configFile, const std::string & databaseP
Parameters::readINI(configFile, param);
}
this->init(param, databasePath);
this->init(param, databasePath, loadDatabaseParameters);
}
void Rtabmap::close(bool databaseSaved, const std::string & ouputDatabasePath)