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34fa01466a
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