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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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25
corelib/src/Memory.cpp
View File

@@ -44,6 +44,7 @@ Memory::Memory(const ParametersMap & parameters) :
_similarityThreshold(Parameters::defaultMemRehearsalSimilarity()),
_rehearsalOnlyWithLast(Parameters::defaultMemRehearsalOnlyWithLast()),
_rawDataKept(Parameters::defaultMemImageKept()),
_keepRehearsedNodesInDb(Parameters::defaultMemRehearsedNodesKept()),
_incrementalMemory(Parameters::defaultMemIncrementalMemory()),
_maxStMemSize(Parameters::defaultMemSTMSize()),
_recentWmRatio(Parameters::defaultMemRecentWmRatio()),
@@ -251,6 +252,10 @@ void Memory::parseParameters(const ParametersMap & parameters)
{
_rawDataKept = uStr2Bool((*iter).second.c_str());
}
if((iter=parameters.find(Parameters::kMemRehearsedNodesKept())) != parameters.end())
{
_keepRehearsedNodesInDb = uStr2Bool((*iter).second.c_str());
}
if((iter=parameters.find(Parameters::kMemIncrementalMemory())) != parameters.end())
{
_incrementalMemory = uStr2Bool((*iter).second.c_str());
@@ -1341,7 +1346,7 @@ void Memory::moveToTrash(Signature * s, bool saveToDatabase)
UINFO("id=%d", s?s->id():0);
if(s)
{
this->disableWordsRef(s->id());
this->disableWordsRef(s->id(), saveToDatabase);
_workingMem.erase(s->id());
_stMem.erase(s->id());
@@ -1590,8 +1595,10 @@ bool Memory::addLoopClosureLink(int oldId, int newId)
this->copyData(newS, oldS);
}
bool saveToDb = !onRehearsal || _keepRehearsedNodesInDb;
// remove location
moveToTrash(_idUpdatedToNewOneRehearsal?oldS:newS);
moveToTrash(_idUpdatedToNewOneRehearsal?oldS:newS, saveToDb);
return true;
}
@@ -2327,7 +2334,7 @@ Signature * Memory::createSignature(const Image & image, bool keepRawData)
return ks;
}
void Memory::disableWordsRef(int signatureId)
void Memory::disableWordsRef(int signatureId, bool saveToDatabase)
{
ULOGGER_DEBUG("id=%d", signatureId);
@@ -2341,6 +2348,18 @@ void Memory::disableWordsRef(int signatureId)
for(std::list<int>::const_iterator i=keys.begin(); i!=keys.end(); ++i)
{
_vwd->removeAllWordRef(*i, signatureId);
if(!saveToDatabase)
{
// assume just removed word doesn't have any other references
VisualWord * w = _vwd->getUnusedWord(*i);
if(w)
{
std::vector<VisualWord*> wordToDelete;
wordToDelete.push_back(w);
_vwd->removeWords(wordToDelete);
delete w;
}
}
}
count -= _vwd->getTotalActiveReferences();

144
corelib/src/Rtabmap.cpp
View File

@@ -71,6 +71,7 @@ Rtabmap::Rtabmap() :
_maxRetrieved(Parameters::defaultRtabmapMaxRetrieved()),
_likelihoodNullValuesIgnored(Parameters::defaultRtabmapLikelihoodNullValuesIgnored()),
_statisticLogsBufferedInRAM(Parameters::defaultRtabmapStatisticLogsBufferedInRAM()),
_statisticLogged(Parameters::defaultRtabmapStatisticLogged()),
_lcHypothesisId(0),
_lcHypothesisValue(0),
_retrievedId(0),
@@ -109,74 +110,81 @@ void Rtabmap::setupLogFiles(bool overwrite)
_foutInt = 0;
}
std::string attributes = "a+"; // append to log files
if(overwrite)
if(_statisticLogged)
{
// If a file with the same name already exists
// its content is erased and the file is treated
// as a new empty file.
attributes = "w";
std::string attributes = "a+"; // append to log files
if(overwrite)
{
// If a file with the same name already exists
// its content is erased and the file is treated
// as a new empty file.
attributes = "w";
}
bool addLogFHeader = overwrite || !UFile::exists(_wDir+LOG_F);
bool addLogIHeader = overwrite || !UFile::exists(_wDir+LOG_I);
#ifdef _MSC_VER
fopen_s(&_foutFloat, (_wDir+LOG_F).toStdString().c_str(), attributes.c_str());
fopen_s(&_foutInt, (_wDir+LOG_I).toStdString().c_str(), attributes.c_str());
#else
_foutFloat = fopen((_wDir+LOG_F).c_str(), attributes.c_str());
_foutInt = fopen((_wDir+LOG_I).c_str(), attributes.c_str());
#endif
// add header (column identification)
if(addLogFHeader && _foutFloat)
{
fprintf(_foutFloat, "Column headers:\n");
fprintf(_foutFloat, " 1-Total iteration time (s)\n");
fprintf(_foutFloat, " 2-Memory update time (s)\n");
fprintf(_foutFloat, " 3-Retrieval time (s)\n");
fprintf(_foutFloat, " 4-Likelihood time (s)\n");
fprintf(_foutFloat, " 5-Posterior time (s)\n");
fprintf(_foutFloat, " 6-Hypothesis selection time (s)\n");
fprintf(_foutFloat, " 7-Transfer time (s)\n");
fprintf(_foutFloat, " 8-Statistics creation time (s)\n");
fprintf(_foutFloat, " 9-Loop closure hypothesis value\n");
fprintf(_foutFloat, " 10-NAN\n");
fprintf(_foutFloat, " 11-Maximum likelihood\n");
fprintf(_foutFloat, " 12-Sum likelihood\n");
fprintf(_foutFloat, " 13-Mean likelihood\n");
fprintf(_foutFloat, " 14-Std dev likelihood\n");
fprintf(_foutFloat, " 15-Virtual place hypothesis\n");
fprintf(_foutFloat, " 16-Join trash time (s)\n");
fprintf(_foutFloat, " 17-Weight Update (rehearsal) similarity\n");
fprintf(_foutFloat, " 18-Empty trash time (s)\n");
fprintf(_foutFloat, " 19-Retrieval database access time (s)\n");
fprintf(_foutFloat, " 20-Add loop closure link time (s)\n");
}
if(addLogIHeader && _foutInt)
{
fprintf(_foutInt, "Column headers:\n");
fprintf(_foutInt, " 1-Loop closure ID\n");
fprintf(_foutInt, " 2-Highest loop closure hypothesis\n");
fprintf(_foutInt, " 3-Locations transferred\n");
fprintf(_foutInt, " 4-NAN\n");
fprintf(_foutInt, " 5-Words extracted from the last image\n");
fprintf(_foutInt, " 6-Vocabulary size\n");
fprintf(_foutInt, " 7-Working memory size\n");
fprintf(_foutInt, " 8-Is loop closure hypothesis rejected?\n");
fprintf(_foutInt, " 9-NAN\n");
fprintf(_foutInt, " 10-NAN\n");
fprintf(_foutInt, " 11-Locations retrieved\n");
fprintf(_foutInt, " 12-Retrieval location ID\n");
fprintf(_foutInt, " 13-Unique words extraced from last image\n");
fprintf(_foutInt, " 14-Retrieval ID\n");
fprintf(_foutInt, " 15-Non-null likelihood values\n");
fprintf(_foutInt, " 16-Weight Update ID\n");
fprintf(_foutInt, " 17-Is last location merged through Weight Update?\n");
}
ULOGGER_DEBUG("Log file (int)=%s", (_wDir+LOG_I).c_str());
ULOGGER_DEBUG("Log file (float)=%s", (_wDir+LOG_F).c_str());
}
bool addLogFHeader = overwrite || !UFile::exists(_wDir+LOG_F);
bool addLogIHeader = overwrite || !UFile::exists(_wDir+LOG_I);
#ifdef _MSC_VER
fopen_s(&_foutFloat, (_wDir+LOG_F).toStdString().c_str(), attributes.c_str());
fopen_s(&_foutInt, (_wDir+LOG_I).toStdString().c_str(), attributes.c_str());
#else
_foutFloat = fopen((_wDir+LOG_F).c_str(), attributes.c_str());
_foutInt = fopen((_wDir+LOG_I).c_str(), attributes.c_str());
#endif
// add header (column identification)
if(addLogFHeader && _foutFloat)
else
{
fprintf(_foutFloat, "Column headers:\n");
fprintf(_foutFloat, " 1-Total iteration time (s)\n");
fprintf(_foutFloat, " 2-Memory update time (s)\n");
fprintf(_foutFloat, " 3-Retrieval time (s)\n");
fprintf(_foutFloat, " 4-Likelihood time (s)\n");
fprintf(_foutFloat, " 5-Posterior time (s)\n");
fprintf(_foutFloat, " 6-Hypothesis selection time (s)\n");
fprintf(_foutFloat, " 7-Transfer time (s)\n");
fprintf(_foutFloat, " 8-Statistics creation time (s)\n");
fprintf(_foutFloat, " 9-Loop closure hypothesis value\n");
fprintf(_foutFloat, " 10-NAN\n");
fprintf(_foutFloat, " 11-Maximum likelihood\n");
fprintf(_foutFloat, " 12-Sum likelihood\n");
fprintf(_foutFloat, " 13-Mean likelihood\n");
fprintf(_foutFloat, " 14-Std dev likelihood\n");
fprintf(_foutFloat, " 15-Virtual place hypothesis\n");
fprintf(_foutFloat, " 16-Join trash time (s)\n");
fprintf(_foutFloat, " 17-Weight Update (rehearsal) similarity\n");
fprintf(_foutFloat, " 18-Empty trash time (s)\n");
fprintf(_foutFloat, " 19-Retrieval database access time (s)\n");
fprintf(_foutFloat, " 20-Add loop closure link time (s)\n");
UDEBUG("Log disabled!");
}
if(addLogIHeader && _foutInt)
{
fprintf(_foutInt, "Column headers:\n");
fprintf(_foutInt, " 1-Loop closure ID\n");
fprintf(_foutInt, " 2-Highest loop closure hypothesis\n");
fprintf(_foutInt, " 3-Locations transferred\n");
fprintf(_foutInt, " 4-NAN\n");
fprintf(_foutInt, " 5-Words extracted from the last image\n");
fprintf(_foutInt, " 6-Vocabulary size\n");
fprintf(_foutInt, " 7-Working memory size\n");
fprintf(_foutInt, " 8-Is loop closure hypothesis rejected?\n");
fprintf(_foutInt, " 9-NAN\n");
fprintf(_foutInt, " 10-NAN\n");
fprintf(_foutInt, " 11-Locations retrieved\n");
fprintf(_foutInt, " 12-Retrieval location ID\n");
fprintf(_foutInt, " 13-Unique words extraced from last image\n");
fprintf(_foutInt, " 14-Retrieval ID\n");
fprintf(_foutInt, " 15-Non-null likelihood values\n");
fprintf(_foutInt, " 16-Weight Update ID\n");
fprintf(_foutInt, " 17-Is last location merged through Weight Update?\n");
}
ULOGGER_DEBUG("Log file (int)=%s", (_wDir+LOG_I).c_str());
ULOGGER_DEBUG("Log file (float)=%s", (_wDir+LOG_F).c_str());
}
void Rtabmap::flushStatisticLogs()
@@ -211,6 +219,10 @@ void Rtabmap::init(const ParametersMap & parameters, bool deleteMemory)
{
this->setWorkingDirectory(iter->second.c_str());
}
if((iter=parameters.find(Parameters::kRtabmapStatisticLogged())) != parameters.end())
{
_statisticLogged = uStr2Bool(iter->second.c_str());
}
this->resetMemory(true);
}
@@ -320,6 +332,10 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
{
_statisticLogsBufferedInRAM = uStr2Bool(iter->second.c_str());
}
if((iter=parameters.find(Parameters::kRtabmapStatisticLogged())) != parameters.end())
{
_statisticLogged = uStr2Bool(iter->second.c_str());
}
// By default, we create our strategies if they are not already created.
// If they already exists, we check the parameters if a change is requested

2
corelib/src/VWDictionary.cpp
View File

@@ -1012,7 +1012,7 @@ const VisualWord * VWDictionary::getWord(int id) const
return uValue(_visualWords, id, (VisualWord *)0);
}
const VisualWord * VWDictionary::getUnusedWord(int id) const
VisualWord * VWDictionary::getUnusedWord(int id) const
{
return uValue(_unusedWords, id, (VisualWord *)0);
}