mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
Added Mem/MapLabelsAdded parameter (default true)
This commit is contained in:
matlabbe
@@ -240,6 +240,7 @@ private:
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bool _idUpdatedToNewOneRehearsal;
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bool _generateIds;
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bool _badSignaturesIgnored;
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bool _mapLabelsAdded;
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int _imageDecimation;
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float _laserScanVoxelSize;
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bool _localSpaceLinksKeptInWM;
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@@ -186,6 +186,7 @@ class RTABMAP_EXP Parameters
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RTABMAP_PARAM(Mem, RehearsalSimilarity, float, 0.6, "Rehearsal similarity.");
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RTABMAP_PARAM(Mem, ImageKept, bool, false, "Keep raw images in RAM.");
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RTABMAP_PARAM(Mem, BinDataKept, bool, true, "Keep binary data in db.");
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RTABMAP_PARAM(Mem, MapLabelsAdded, bool, true, "Create map labels. The first node of a map will be labelled as \"map#\" where # is the map ID.");
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RTABMAP_PARAM(Mem, SaveDepth16Format, bool, true, "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).");
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RTABMAP_PARAM(Mem, NotLinkedNodesKept, bool, true, "Keep not linked nodes in db (rehearsed nodes and deleted nodes).");
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RTABMAP_PARAM(Mem, STMSize, unsigned int, 10, "Short-term memory size.");
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@@ -78,6 +78,7 @@ Memory::Memory(const ParametersMap & parameters) :
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_idUpdatedToNewOneRehearsal(Parameters::defaultMemRehearsalIdUpdatedToNewOne()),
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_generateIds(Parameters::defaultMemGenerateIds()),
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_badSignaturesIgnored(Parameters::defaultMemBadSignaturesIgnored()),
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_mapLabelsAdded(Parameters::defaultMemMapLabelsAdded()),
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_imageDecimation(Parameters::defaultMemImageDecimation()),
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_laserScanVoxelSize(Parameters::defaultMemLaserScanVoxelSize()),
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_localSpaceLinksKeptInWM(Parameters::defaultMemLocalSpaceLinksKeptInWM()),
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@@ -408,6 +409,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
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Parameters::parse(parameters, Parameters::kMemRehearsalIdUpdatedToNewOne(), _idUpdatedToNewOneRehearsal);
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Parameters::parse(parameters, Parameters::kMemGenerateIds(), _generateIds);
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Parameters::parse(parameters, Parameters::kMemBadSignaturesIgnored(), _badSignaturesIgnored);
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Parameters::parse(parameters, Parameters::kMemMapLabelsAdded(), _mapLabelsAdded);
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Parameters::parse(parameters, Parameters::kMemRehearsalSimilarity(), _similarityThreshold);
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Parameters::parse(parameters, Parameters::kMemRecentWmRatio(), _recentWmRatio);
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Parameters::parse(parameters, Parameters::kMemTransferSortingByWeightId(), _transferSortingByWeightId);
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@@ -745,7 +747,7 @@ void Memory::addSignatureToStm(Signature * signature, const cv::Mat & covariance
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}
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}
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}
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else
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else if(_mapLabelsAdded)
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{
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//Tag the first node of the map
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std::string tag = uFormat("map%d", signature->mapId());
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@@ -73,6 +73,7 @@ bool DataRecorder::init(const QString & path, bool recordInRAM)
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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::kMemBinDataKept(), "true")); // to keep images
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customParameters.insert(ParametersPair(Parameters::kMemMapLabelsAdded(), "false")); // don't create map labels
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customParameters.insert(ParametersPair(Parameters::kMemBadSignaturesIgnored(), "true")); // make usre memory cleanup is done
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if(!recordInRAM)
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{
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@@ -472,6 +472,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->general_checkBox_RehearsalIdUpdatedToNewOne->setObjectName(Parameters::kMemRehearsalIdUpdatedToNewOne().c_str());
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_ui->general_checkBox_generateIds->setObjectName(Parameters::kMemGenerateIds().c_str());
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_ui->general_checkBox_badSignaturesIgnored->setObjectName(Parameters::kMemBadSignaturesIgnored().c_str());
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_ui->general_checkBox_createMapLabels->setObjectName(Parameters::kMemMapLabelsAdded().c_str());
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_ui->general_checkBox_initWMWithAllNodes->setObjectName(Parameters::kMemInitWMWithAllNodes().c_str());
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_ui->checkBox_localSpaceLinksKeptInWM->setObjectName(Parameters::kMemLocalSpaceLinksKeptInWM().c_str());
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_ui->checkBox_localSpaceScanMatchingIDsSaved->setObjectName(Parameters::kRGBDScanMatchingIdsSavedInLinks().c_str());
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@@ -63,9 +63,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-566</y>
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<width>755</width>
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<height>1764</height>
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<y>0</y>
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<width>760</width>
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<height>1705</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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@@ -86,7 +86,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>23</number>
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<number>7</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29">
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@@ -4078,7 +4078,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="11" column="0">
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<item row="12" column="0">
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<widget class="QDoubleSpinBox" name="general_doubleSpinBox_laserScanVoxel">
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<property name="minimumSize">
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<size>
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@@ -4103,7 +4103,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="10" column="0">
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<item row="11" column="0">
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<widget class="QSpinBox" name="spinBox_imageDecimation">
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<property name="minimum">
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<number>1</number>
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@@ -4145,7 +4145,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="7" column="1">
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<item row="8" column="1">
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<widget class="QLabel" name="label_retrieved_4">
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<property name="text">
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<string>Initialize the Woking Memory with all nodes from Long-Term memory, instead of only nodes of the last session. This may be useful in localization mode, where less processing time is required than in SLAM mode, so more nodes can be kept in Working Memory.</string>
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@@ -4220,7 +4220,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<item row="6" column="0">
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<widget class="QCheckBox" name="general_checkBox_badSignaturesIgnored">
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<property name="text">
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<string/>
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@@ -4230,7 +4230,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<item row="6" column="1">
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<widget class="QLabel" name="label_retrieved_3">
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<property name="text">
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<string>Bad signatures are ignored.</string>
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@@ -4243,7 +4243,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="7" column="0">
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<item row="8" column="0">
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<widget class="QCheckBox" name="general_checkBox_initWMWithAllNodes">
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<property name="text">
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<string/>
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@@ -4253,7 +4253,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="8" column="1">
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<item row="9" column="1">
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<widget class="QLabel" name="label_retrieved_5">
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<property name="text">
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<string>Keep raw sensor data. Only useful to save loop closure computation time when features re-extraction is enabled. Disable to save RAM memory.</string>
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@@ -4266,7 +4266,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="8" column="0">
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<item row="9" column="0">
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<widget class="QCheckBox" name="general_checkBox_keepRawData">
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<property name="text">
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<string/>
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@@ -4276,7 +4276,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="10" column="1">
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<item row="11" column="1">
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<widget class="QLabel" name="label_retrieved_6">
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<property name="text">
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<string>Image decimation. This feature can be used to save images in lower resolution (size/decimation).</string>
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@@ -4312,7 +4312,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="11" column="1">
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<item row="12" column="1">
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<widget class="QLabel" name="label_retrieved_8">
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<property name="text">
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<string>If > 0.0, voxelize laser scans when creating a location. This feature can be used to save laser scans already voxelized.</string>
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@@ -4325,7 +4325,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="9" column="1">
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<item row="10" column="1">
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<widget class="QLabel" name="label_retrieved_9">
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<property name="text">
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<string>Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).</string>
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@@ -4338,7 +4338,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="9" column="0">
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<item row="10" column="0">
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<widget class="QCheckBox" name="general_checkBox_saveDepth16bits">
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<property name="text">
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<string/>
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@@ -4348,7 +4348,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="6" column="1">
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<item row="7" column="1">
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<widget class="QLabel" name="label_retrieved_10">
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<property name="text">
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<string>Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set).</string>
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@@ -4361,7 +4361,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<item row="7" column="0">
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<widget class="QCheckBox" name="general_checkBox_reduceGraph">
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<property name="text">
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<string/>
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@@ -4371,6 +4371,29 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QLabel" name="label_retrieved_11">
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<property name="text">
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<string>Create map labels. The first node of a map will be labelled as "map#" where # is the map ID.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QCheckBox" name="general_checkBox_createMapLabels">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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