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DatabaseViewer: added exporting of a specific session with or without user_data. MainWindow: added action to send goal to rtabmap. Rtabmap: Saving goals in user_data of the current signature, modified parameter Mem/RehearsedNodesKept to Mem/NotLinkedNodesKept. DBReader: added sending goals when detected while playing back a database.

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This commit is contained in:
Mathieu Labbe
2015-04-17 18:30:12 -04:00
parent b48bd7cf70
commit 5700c14bcb
25 changed files with 325 additions and 49 deletions
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corelib/src/Rtabmap.cpp
+9 -11
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@@ -109,6 +109,7 @@ Rtabmap::Rtabmap() :
_startNewMapOnLoopClosure(Parameters::defaultRtabmapStartNewMapOnLoopClosure()),
_goalReachedRadius(Parameters::defaultRGBDGoalReachedRadius()),
_planWithNearNodesLinked(Parameters::defaultRGBDPlanWithNearNodesLinked()),
_goalsSavedInUserData(Parameters::defaultRGBDGoalsSavedInUserData()),
_loopClosureHypothesis(0,0.0f),
_highestHypothesis(0,0.0f),
_lastProcessTime(0.0),
@@ -395,6 +396,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRtabmapStartNewMapOnLoopClosure(), _startNewMapOnLoopClosure);
Parameters::parse(parameters, Parameters::kRGBDGoalReachedRadius(), _goalReachedRadius);
Parameters::parse(parameters, Parameters::kRGBDPlanWithNearNodesLinked(), _planWithNearNodesLinked);
Parameters::parse(parameters, Parameters::kRGBDGoalsSavedInUserData(), _goalsSavedInUserData);
// RGB-D SLAM stuff
if((iter=parameters.find(Parameters::kLccIcpType())) != parameters.end())
@@ -1504,7 +1506,7 @@ bool Rtabmap::process(const SensorData & data)
rejectedHypothesis = transform.isNull();
if(rejectedHypothesis)
{
UWARN("Rejected loop closure transform between %d and %d: %s",
UWARN("Rejected loop closure %d -> %d: %s",
_loopClosureHypothesis.first, signature->id(), rejectedMsg.c_str());
}
}
@@ -2069,16 +2071,6 @@ void Rtabmap::setWorkingDirectory(std::string path)
}
}
void Rtabmap::deleteLocation(int locationId)
{
if(_memory)
{
_memory->deleteLocation(locationId);
}
}
void Rtabmap::rejectLoopClosure(int oldId, int newId)
{
UDEBUG("_loopClosureHypothesis.first=%d", _loopClosureHypothesis.first);
@@ -2596,6 +2588,12 @@ bool Rtabmap::computePath(
}
UINFO("Path = [%s]", stream.str().c_str());
}
if(_goalsSavedInUserData)
{
// set goal to latest signature
std::string goalStr = uFormat("GOAL:%d", targetNode);
setUserData(0, uStr2Bytes(goalStr));
}
}
return _path.size()>0;