Updated default parameter "RawDataKept" in database to true.
Fixed a bug of showing rejected loop closure image in GUI when RawDataKept=false and the loop closure id is not set (only highestHypothesisId when the loop is rejected).
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@211 f169173b-cf89-36c8-b27e-44dbe73f0c83
ConsoleApp :
-Added new parameters (-exit_warn -exit_error -image_width -image_height -v)
-Using buffered logger (introduced in UtiLite 0.2.9)
DatabaseViewer :
- Added action generating local graph around a specified location
- Added action to clean local graph around a specified location
- Moved all generating/cleaning graph methods into RTAB-Map lib Memory class. Now use rtabmap::Memory class instead of rtabmap::DBDriver class directly.
DBDriver class :
-Protected all accesses to db driver with a mutex.
Parameters class :
- Added WorkingDirectory
- Added LocalGraphCleaned
- Added RecentWmRatio
- Removed ChildSaved
- Added getDefaultWorkingDirectory()
Rtabmap class :
- changed getChildCount() to getWeights()
- Closing logged files before cleaning all memories (to keep the logs even if the application crashes when cleaning)
- Cleaning automatically local graphs if LocalGraphCleaned is set, accordingly to neighborhood margin.
- Added log vpHypothesis and timeEmptyingMemoryTrash
RtabmapEvent class :
- Added statistics Timing [CleaningNeighbors][Memory_cleanup][Emptying_memory_trash]
- Added Statistic LoopHypothesis_ratio
-Removed changeWorkingDirectory command (now a parameter)
- Added kCmdGenerateGraph command to generate a graph
CameraDatabase class :
-Using an index iterator instead of an index number.
DBDriverSqlite3 class :
- Added getHighestWeightedSignaturesQuery()
Memory class :
- Fixed to not write in database when the memory is not changed (isMemoryChanged())
- Now recent locations after the last loop closure can't be selected to be transferred and accordingly to
- Removed updateCommonSignature()
- Added getAllSignatureIds() : look also in database (LTM)
- Added generateGraph()
- Added cleanLocalGraph()
- Added cleanLTM()
- Added cleanGraph()
- Added createGraph()
KeypointMemory class :
- Fixed tf-idf when computing likelihood
- Removed updateCommonSignature()
- Removed cached word references to change
Rtabmap-gui :
- Added generateMap action
- Added keypoint's opacity parameter
- Added beepOnPause behavior
- Added ConsoleWidget class : log event are shown in
- Added pause on log level
- Showing rejected loop closures by ratio
- (MacOSX) Fixed bug 1 : It was a problem in PreferencesDialog::showEvent(), where a child dialog was created while the parent dialog was shown. Just removed the link to the parent (set null) instead.
Added Node class :
- Used in Memory class to create/cleanup a graph
Others :
Some optimizations added when inserting at the end of a map or a set…
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@28 f169173b-cf89-36c8-b27e-44dbe73f0c83
