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rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded.

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Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
This commit is contained in:
matlabbe
2016-11-21 17:09:04 -05:00
parent 4c559a3191
commit 14908e3a11
19 changed files with 380 additions and 296 deletions
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corelib/src/Memory.cpp
+2 -2
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@@ -304,7 +304,7 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
return success;
}
void Memory::close(bool databaseSaved, bool postInitClosingEvents)
void Memory::close(bool databaseSaved, bool postInitClosingEvents, const std::string & ouputDatabasePath)
{
UINFO("databaseSaved=%d, postInitClosingEvents=%d", databaseSaved?1:0, postInitClosingEvents?1:0);
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kClosing));
@@ -342,7 +342,7 @@ void Memory::close(bool databaseSaved, bool postInitClosingEvents)
_dbDriver->emptyTrashes();
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Saving memory, done!"));
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(uFormat("Closing database \"%s\"...", _dbDriver->getUrl().c_str())));
_dbDriver->closeConnection();
_dbDriver->closeConnection(true, ouputDatabasePath);
delete _dbDriver;
_dbDriver = 0;
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Closing database, done!"));