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rtabmap: Added parameter to disable logs of the statistics

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rtabmap: Added parameter to avoid saving to database nodes/words of rehearsed nodes

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@834 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-03-02 21:53:47 +00:00
parent 3d05294663
commit ff6e6f84c5
9 changed files with 183 additions and 102 deletions
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3
corelib/include/rtabmap/core/Memory.h
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@@ -149,7 +149,7 @@ private:
bool keepRawData=false);
//keypoint stuff
void disableWordsRef(int signatureId);
void disableWordsRef(int signatureId, bool saveToDatabase = true);
void enableWordsRef(const std::list<int> & signatureIds);
void cleanUnusedWords();
int getNi(int signatureId) const;
@@ -162,6 +162,7 @@ private:
float _similarityThreshold;
bool _rehearsalOnlyWithLast;
bool _rawDataKept;
bool _keepRehearsedNodesInDb;
bool _incrementalMemory;
int _maxStMemSize;
float _recentWmRatio;

4
corelib/include/rtabmap/core/Parameters.h
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@@ -131,6 +131,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Rtabmap, MaxRetrieved, unsigned int, 2); // Maximum locations retrieved at the same time from LTM
RTABMAP_PARAM(Rtabmap, LikelihoodNullValuesIgnored, bool, true); // Ignore null values on likelihood normalization
RTABMAP_PARAM(Rtabmap, StatisticLogsBufferedInRAM, bool, true); // Statistic logs buffered in RAM instead of written to hard drive after each iteration.
RTABMAP_PARAM(Rtabmap, StatisticLogged, bool, true); // Logging enabled
// Hypotheses selection
RTABMAP_PARAM(Rtabmap, LoopThr, float, 0.15); // Loop closing threshold
@@ -139,7 +140,8 @@ class RTABMAP_EXP Parameters
// Memory
RTABMAP_PARAM(Mem, RehearsalSimilarity, float, 0.2); // Rehearsal mean for each sensor
RTABMAP_PARAM(Mem, RehearsalOnlyWithLast, bool, true); // Only compare to the last signature in STM, otherwise it compares to all signatures in STM
RTABMAP_PARAM(Mem, ImageKept, bool, true); // Keep image
RTABMAP_PARAM(Mem, ImageKept, bool, true); // Keep images in db
RTABMAP_PARAM(Mem, RehearsedNodesKept, bool, true); // Keep rehearsed ndoes in db
RTABMAP_PARAM(Mem, STMSize, unsigned int, 30); // Short-term memory size
RTABMAP_PARAM(Mem, IncrementalMemory, bool, true);
RTABMAP_PARAM(Mem, RecentWmRatio, float, 0.2); // Ratio of locations after the last loop closure in WM that cannot be transferred

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -111,6 +111,7 @@ private:
unsigned int _maxRetrieved;
bool _likelihoodNullValuesIgnored;
bool _statisticLogsBufferedInRAM;
bool _statisticLogged;
int _lcHypothesisId;
float _lcHypothesisValue;

2
corelib/include/rtabmap/core/VWDictionary.h
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@@ -60,7 +60,7 @@ public:
void addWordRef(int wordId, int signatureId);
void removeAllWordRef(int wordId, int signatureId);
const VisualWord * getWord(int id) const;
const VisualWord * getUnusedWord(int id) const;
VisualWord * getUnusedWord(int id) const;
void setLastWordId(int id) {_lastWordId = id;}
void getCommonWords(unsigned int nbCommonWords, int totalSign, std::list<int> & commonWords) const;
const std::map<int, VisualWord *> & getVisualWords() const {return _visualWords;}