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Increased version to 0.6.2

Browse Source 
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
This commit is contained in:
matlabbe
2014-01-22 19:49:28 +00:00
parent 2489397b49
commit 22e3082adc
33 changed files with 2103 additions and 857 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/RtabmapThread.cpp
+62 -23
View File
@@ -29,6 +29,7 @@
#include <rtabmap/utilite/UEventsManager.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UConversion.h>
namespace rtabmap {
@@ -76,7 +77,7 @@ void RtabmapThread::clearBufferedData()
_imageMutex.unlock();
}
void RtabmapThread::publishMap() const
void RtabmapThread::publishMap(bool optimized, bool full) const
{
std::map<int, std::vector<unsigned char> > images;
std::map<int, std::vector<unsigned char> > depths;
@@ -84,7 +85,6 @@ void RtabmapThread::publishMap() const
std::map<int, float> depthConstants;
std::map<int, Transform> localTransforms;
std::map<int, Transform> poses;
Transform mapCorrection;
_rtabmap->get3DMap(images,
depths,
@@ -92,15 +92,15 @@ void RtabmapThread::publishMap() const
depthConstants,
localTransforms,
poses,
mapCorrection);
optimized,
full);
this->post(new RtabmapEvent3DMap(images,
depths,
depths2d,
depthConstants,
localTransforms,
poses,
mapCorrection));
poses));
}
void RtabmapThread::mainLoopKill()
@@ -156,6 +156,12 @@ void RtabmapThread::mainLoop()
case kStateGeneratingLocalGraph:
_rtabmap->generateGraph(parameters.at("path"), atoi(parameters.at("id").c_str()), atoi(parameters.at("margin").c_str()));
break;
case kStateGeneratingTOROGraph:
_rtabmap->generateTOROGraph(parameters.at("path"), atoi(parameters.at("optimized").c_str())!=0, false);
break;
case kStateGeneratingTOROGraphFull:
_rtabmap->generateTOROGraph(parameters.at("path"), atoi(parameters.at("optimized").c_str())!=0, true);
break;
case kStateDeletingMemory:
if(!parameters.at("path").empty())
{
@@ -168,7 +174,10 @@ void RtabmapThread::mainLoop()
this->clearBufferedData();
break;
case kStatePublishingMap:
this->publishMap();
this->publishMap(atoi(parameters.at("optimized").c_str())!=0, false);
break;
case kStatePublishingMapFull:
this->publishMap(atoi(parameters.at("optimized").c_str())!=0, true);
break;
case kStateTriggeringMap:
_rtabmap->triggerNewMap();
@@ -223,26 +232,47 @@ void RtabmapThread::handleEvent(UEvent* event)
}
else if(cmd == RtabmapEventCmd::kCmdGenerateGraph)
{
if(!rtabmapEvent->getStr().empty())
{
ULOGGER_DEBUG("CMD_GENERATE_GRAPH");
ParametersMap param;
param.insert(ParametersPair("path", rtabmapEvent->getStr()));
pushNewState(kStateGeneratingGraph, param);
}
UASSERT(!rtabmapEvent->getStr().empty());
ULOGGER_DEBUG("CMD_GENERATE_GRAPH");
ParametersMap param;
param.insert(ParametersPair("path", rtabmapEvent->getStr()));
pushNewState(kStateGeneratingGraph, param);
}
else if(cmd == RtabmapEventCmd::kCmdGenerateLocalGraph)
{
std::list<std::string> values = uSplit(rtabmapEvent->getStr(), ';');
if(values.size() == 3)
{
ULOGGER_DEBUG("CMD_GENERATE_LOCAL_GRAPH");
ParametersMap param;
param.insert(ParametersPair("path", *values.begin()));
param.insert(ParametersPair("id", *(++values.begin())));
param.insert(ParametersPair("margin", *values.rbegin()));
pushNewState(kStateGeneratingLocalGraph, param);
}
UASSERT(values.size() == 3);
ULOGGER_DEBUG("CMD_GENERATE_LOCAL_GRAPH");
ParametersMap param;
param.insert(ParametersPair("path", *values.begin()));
param.insert(ParametersPair("id", *(++values.begin())));
param.insert(ParametersPair("margin", *values.rbegin()));
pushNewState(kStateGeneratingLocalGraph, param);
}
else if(cmd == RtabmapEventCmd::kCmdGenerateTOROGraph)
{
UASSERT(!rtabmapEvent->getStr().empty());
ULOGGER_DEBUG("CMD_GENERATE_TORO_GRAPH");
ParametersMap param;
param.insert(ParametersPair("path", rtabmapEvent->getStr()));
param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
pushNewState(kStateGeneratingTOROGraph, param);
}
else if(cmd == RtabmapEventCmd::kCmdGenerateTOROGraphFull)
{
UASSERT(!rtabmapEvent->getStr().empty());
ULOGGER_DEBUG("CMD_GENERATE_TORO_GRAPH_FULL");
ParametersMap param;
param.insert(ParametersPair("path", rtabmapEvent->getStr()));
param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
pushNewState(kStateGeneratingTOROGraphFull, param);
}
else if(cmd == RtabmapEventCmd::kCmdDeleteMemory)
{
@@ -259,7 +289,16 @@ void RtabmapThread::handleEvent(UEvent* event)
else if(cmd == RtabmapEventCmd::kCmdPublish3DMap)
{
ULOGGER_DEBUG("CMD_PUBLISH_MAP");
pushNewState(kStatePublishingMap);
ParametersMap param;
param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
pushNewState(kStatePublishingMap, param);
}
else if(cmd == RtabmapEventCmd::kCmdPublish3DMapFull)
{
ULOGGER_DEBUG("CMD_PUBLISH_MAP_FULL");
ParametersMap param;
param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
pushNewState(kStatePublishingMapFull, param);
}
else if(cmd == RtabmapEventCmd::kCmdTriggerNewMap)
{