mirror of
https://github.com/introlab/rtabmap.git
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22e3082adc
Memory management tested on RGBD SLAM Fixed some crashes New parameter RGBD/LocalLoopDetectionMaxDiffID New parameter LccIcp2/VoxelSize Updated parameter LccIcp/Type (added "No ICP" type) Updated parameter kLccBowMinInliers (inliers minimum reduced to 1) TORO optimization: The graph root is explicitly defined as the last node added (fixed a TORO crash when a root could not be found) TORO optimization: only one constraint between neighbors and loop closures TORO optimization: added initial tree guess Map correction/Map transform: now only used in localization mode (map correction is always identity on mapping mode) New statistics: local loop space diff, last loop closure parent and child ids Database: Fixed empty signatures with no poses loaded ICP: fixed transform multiplication order Dump memory: added 3D words DatabaseViewer: added Export option (added ExportDialog object) DataRecorder: Option recording in RAM or Hard drive GUI: added a dock widget (MapVisibilityWidget) to change visibility of nodes in the 3D map GUI: fixed progress bar step count when generating the map Menu option: generate TORO graph (full/current map, optimized/not optimized) Menu option: download map (full/current map, optimized/not optimized) Preferences: added Reset all settings button Preferences: A QGroupBox can be a boolean parameter git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1066 f169173b-cf89-36c8-b27e-44dbe73f0c83
135 lines
3.1 KiB
C++
135 lines
3.1 KiB
C++
/*
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* CloudRecorder.cpp
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*
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* Created on: 2013-10-30
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* Author: Mathieu
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*/
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#include "rtabmap/gui/DataRecorder.h"
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#include <rtabmap/utilite/ULogger.h>
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#include <rtabmap/utilite/UTimer.h>
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#include <rtabmap/core/Memory.h>
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#include <rtabmap/core/CameraEvent.h>
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#include <rtabmap/core/util3d.h>
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#include <rtabmap/gui/ImageView.h>
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#include <rtabmap/gui/UCv2Qt.h>
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#include <QtCore/QMetaType>
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#include <QtGui/QHBoxLayout>
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namespace rtabmap {
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DataRecorder::DataRecorder(QWidget * parent) :
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QWidget(parent),
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memory_(0),
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imageView_(new ImageView(this)),
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dataQueue_(0)
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{
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qRegisterMetaType<rtabmap::Image>("rtabmap::Image");
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QHBoxLayout * layout = new QHBoxLayout(this);
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layout->addWidget(imageView_);
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this->setLayout(layout);
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}
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bool DataRecorder::init(const QString & path, bool recordInRAM)
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{
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if(!memory_)
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{
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ParametersMap customParameters;
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customParameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
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customParameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), "-1")); // desactivate keypoints extraction
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customParameters.insert(ParametersPair(Parameters::kMemImageKept(), "true")); // to keep images
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if(!recordInRAM)
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{
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customParameters.insert(ParametersPair(Parameters::kDbSqlite3InMemory(), "false")); // to keep images
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}
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memory_ = new Memory();
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if(!memory_->init(path.toStdString(), true, customParameters, false))
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{
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delete memory_;
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memory_ = 0;
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UERROR("Error initializing the memory.");
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return false;
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}
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return true;
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}
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else
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{
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UERROR("Already initialized, close it first.");
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return false;
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}
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}
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void DataRecorder::close()
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{
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if(memory_)
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{
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delete memory_;
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memory_ = 0;
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}
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}
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DataRecorder::~DataRecorder()
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{
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this->close();
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}
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void DataRecorder::addData(const rtabmap::Image & image)
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{
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if(memory_)
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{
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//save to database
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UTimer time;
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memory_->update(image);
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memory_->cleanup();
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if(image.id() % 30)
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{
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memory_->emptyTrash();
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}
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UDEBUG("Time to process a message = %f s", time.ticks());
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}
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else
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{
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UWARN("CloudRecorder not initialized!");
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}
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--dataQueue_;
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}
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void DataRecorder::showImage(const rtabmap::Image & image)
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{
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if(this->isVisible() && !image.empty())
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{
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imageView_->setImage(uCvMat2QImage(image.image()));
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imageView_->setImageDepth(uCvMat2QImage(image.depth()));
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imageView_->fitInView(imageView_->sceneRect(), Qt::KeepAspectRatio);
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}
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}
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void DataRecorder::handleEvent(UEvent * event)
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{
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if(event->getClassName().compare("CameraEvent") == 0)
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{
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CameraEvent * camEvent = (CameraEvent*)event;
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if(camEvent->getCode() == CameraEvent::kCodeImageDepth ||
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camEvent->getCode() == CameraEvent::kCodeImage)
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{
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if(!camEvent->image().empty())
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{
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UINFO("Receiving rate = %f Hz", 1.0f/timer_.ticks());
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QMetaObject::invokeMethod(this, "addData", Q_ARG(rtabmap::Image, camEvent->image()));
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++dataQueue_;
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if(dataQueue_ < 2 && this->isVisible())
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{
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QMetaObject::invokeMethod(this, "showImage", Q_ARG(rtabmap::Image, camEvent->image()));
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}
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}
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}
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}
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}
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} /* namespace rtabmap */
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