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Updated version to 0.8.6: Added parameter Mem/TransferSortingByWeightId

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This commit is contained in:
Mathieu Labbe
2015-03-09 15:25:51 -04:00
parent 49fcf732af
commit d77b0dfb14
8 changed files with 115 additions and 74 deletions
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CMakeLists.txt
+1 -1
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@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
####################### #######################
SET(RTABMAP_MAJOR_VERSION 0) SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 8) SET(RTABMAP_MINOR_VERSION 8)
SET(RTABMAP_PATCH_VERSION 5) SET(RTABMAP_PATCH_VERSION 6)
SET(RTABMAP_VERSION SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION}) ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
corelib/include/rtabmap/core/Memory.h
+4 -2
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@@ -73,6 +73,7 @@ public:
std::map<int, float> computeLikelihood(const Signature * signature, std::map<int, float> computeLikelihood(const Signature * signature,
const std::list<int> & ids); const std::list<int> & ids);
int incrementMapId(); int incrementMapId();
void updateAge(int signatureId);
std::list<int> forget(const std::set<int> & ignoredIds = std::set<int>()); std::list<int> forget(const std::set<int> & ignoredIds = std::set<int>());
std::set<int> reactivateSignatures(const std::list<int> & ids, unsigned int maxLoaded, double & timeDbAccess); std::set<int> reactivateSignatures(const std::list<int> & ids, unsigned int maxLoaded, double & timeDbAccess);
@@ -93,7 +94,7 @@ public:
void removeLink(int idA, int idB); void removeLink(int idA, int idB);
//getters //getters
const std::set<int> & getWorkingMem() const {return _workingMem;} const std::map<int, double> & getWorkingMem() const {return _workingMem;}
const std::set<int> & getStMem() const {return _stMem;} const std::set<int> & getStMem() const {return _stMem;}
int getMaxStMemSize() const {return _maxStMemSize;} int getMaxStMemSize() const {return _maxStMemSize;}
std::map<int, Link> getNeighborLinks(int signatureId, std::map<int, Link> getNeighborLinks(int signatureId,
@@ -212,6 +213,7 @@ private:
bool _incrementalMemory; bool _incrementalMemory;
int _maxStMemSize; int _maxStMemSize;
float _recentWmRatio; float _recentWmRatio;
bool _transferSortingByWeightId;
bool _idUpdatedToNewOneRehearsal; bool _idUpdatedToNewOneRehearsal;
bool _generateIds; bool _generateIds;
bool _badSignaturesIgnored; bool _badSignaturesIgnored;
@@ -231,7 +233,7 @@ private:
std::map<int, Signature *> _signatures; // TODO : check if a signature is already added? although it is not supposed to occur... std::map<int, Signature *> _signatures; // TODO : check if a signature is already added? although it is not supposed to occur...
std::set<int> _stMem; // id std::set<int> _stMem; // id
std::set<int> _workingMem; // id,age std::map<int, double> _workingMem; // id,age
//Keypoint stuff //Keypoint stuff
VWDictionary * _vwd; VWDictionary * _vwd;
corelib/include/rtabmap/core/Parameters.h
+4 -3
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@@ -185,12 +185,13 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, RehearsalSimilarity, float, 0.6, "Rehearsal similarity."); RTABMAP_PARAM(Mem, RehearsalSimilarity, float, 0.6, "Rehearsal similarity.");
RTABMAP_PARAM(Mem, ImageKept, bool, false, "Keep raw images in RAM."); RTABMAP_PARAM(Mem, ImageKept, bool, false, "Keep raw images in RAM.");
RTABMAP_PARAM(Mem, BinDataKept, bool, true, "Keep binary data in db."); RTABMAP_PARAM(Mem, BinDataKept, bool, true, "Keep binary data in db.");
RTABMAP_PARAM(Mem, RehearsedNodesKept, bool, true, "Keep rehearsed ndoes in db."); RTABMAP_PARAM(Mem, RehearsedNodesKept, bool, true, "Keep rehearsed nodes in db.");
RTABMAP_PARAM(Mem, STMSize, unsigned int, 10, "Short-term memory size."); RTABMAP_PARAM(Mem, STMSize, unsigned int, 10, "Short-term memory size.");
RTABMAP_PARAM(Mem, IncrementalMemory, bool, true, "SLAM mode, othwersize it is Localization mode."); RTABMAP_PARAM(Mem, IncrementalMemory, bool, true, "SLAM mode, otherwise it is Localization mode.");
RTABMAP_PARAM(Mem, RecentWmRatio, float, 0.2, "Ratio of locations after the last loop closure in WM that cannot be transferred."); RTABMAP_PARAM(Mem, RecentWmRatio, float, 0.2, "Ratio of locations after the last loop closure in WM that cannot be transferred.");
RTABMAP_PARAM(Mem, TransferSortingByWeightId, bool, false, "On transfer, signatures are sorted by weight->ID only (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight->Age->ID (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID.");
RTABMAP_PARAM(Mem, RehearsalIdUpdatedToNewOne, bool, false, "On merge, update to new id. When false, no copy."); RTABMAP_PARAM(Mem, RehearsalIdUpdatedToNewOne, bool, false, "On merge, update to new id. When false, no copy.");
RTABMAP_PARAM(Mem, GenerateIds, bool, true, "True=Generate location Ids, False=use input image ids."); RTABMAP_PARAM(Mem, GenerateIds, bool, true, "True=Generate location IDs, False=use input image IDs.");
RTABMAP_PARAM(Mem, BadSignaturesIgnored, bool, false, "Bad signatures are ignored."); RTABMAP_PARAM(Mem, BadSignaturesIgnored, bool, false, "Bad signatures are ignored.");
RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session."); RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
RTABMAP_PARAM(Mem, ImageDecimation, int, 1, "Image decimation (>=1)."); RTABMAP_PARAM(Mem, ImageDecimation, int, 1, "Image decimation (>=1).");
corelib/src/Memory.cpp
+56 -41
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@@ -63,6 +63,7 @@ Memory::Memory(const ParametersMap & parameters) :
_incrementalMemory(Parameters::defaultMemIncrementalMemory()), _incrementalMemory(Parameters::defaultMemIncrementalMemory()),
_maxStMemSize(Parameters::defaultMemSTMSize()), _maxStMemSize(Parameters::defaultMemSTMSize()),
_recentWmRatio(Parameters::defaultMemRecentWmRatio()), _recentWmRatio(Parameters::defaultMemRecentWmRatio()),
_transferSortingByWeightId(Parameters::defaultMemTransferSortingByWeightId()),
_idUpdatedToNewOneRehearsal(Parameters::defaultMemRehearsalIdUpdatedToNewOne()), _idUpdatedToNewOneRehearsal(Parameters::defaultMemRehearsalIdUpdatedToNewOne()),
_generateIds(Parameters::defaultMemGenerateIds()), _generateIds(Parameters::defaultMemGenerateIds()),
_badSignaturesIgnored(Parameters::defaultMemBadSignaturesIgnored()), _badSignaturesIgnored(Parameters::defaultMemBadSignaturesIgnored()),
@@ -205,7 +206,7 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
// only linked with the ones of the current session by // only linked with the ones of the current session by
// global loop closures. // global loop closures.
_signatures.insert(std::pair<int, Signature *>((*iter)->id(), *iter)); _signatures.insert(std::pair<int, Signature *>((*iter)->id(), *iter));
_workingMem.insert((*iter)->id()); _workingMem.insert(std::make_pair((*iter)->id(), UTimer::now()));
} }
else else
{ {
@@ -221,7 +222,7 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
} }
else if(_workingMem.size()>0) else if(_workingMem.size()>0)
{ {
_lastSignature = uValue(_signatures, *_workingMem.rbegin(), (Signature*)0); _lastSignature = uValue(_signatures, _workingMem.rbegin()->first, (Signature*)0);
} }
// Last id // Last id
@@ -239,7 +240,7 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
_idMapCount = kIdStart; _idMapCount = kIdStart;
} }
_workingMem.insert(kIdVirtual); _workingMem.insert(std::make_pair(kIdVirtual, 0));
UDEBUG("ids start with %d", _idCount+1); UDEBUG("ids start with %d", _idCount+1);
UDEBUG("map ids start with %d", _idMapCount); UDEBUG("map ids start with %d", _idMapCount);
@@ -384,6 +385,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kMemBadSignaturesIgnored(), _badSignaturesIgnored); Parameters::parse(parameters, Parameters::kMemBadSignaturesIgnored(), _badSignaturesIgnored);
Parameters::parse(parameters, Parameters::kMemRehearsalSimilarity(), _similarityThreshold); Parameters::parse(parameters, Parameters::kMemRehearsalSimilarity(), _similarityThreshold);
Parameters::parse(parameters, Parameters::kMemRecentWmRatio(), _recentWmRatio); Parameters::parse(parameters, Parameters::kMemRecentWmRatio(), _recentWmRatio);
Parameters::parse(parameters, Parameters::kMemTransferSortingByWeightId(), _transferSortingByWeightId);
Parameters::parse(parameters, Parameters::kMemSTMSize(), _maxStMemSize); Parameters::parse(parameters, Parameters::kMemSTMSize(), _maxStMemSize);
Parameters::parse(parameters, Parameters::kMemImageDecimation(), _imageDecimation); Parameters::parse(parameters, Parameters::kMemImageDecimation(), _imageDecimation);
Parameters::parse(parameters, Parameters::kMemLocalSpaceLinksKeptInWM(), _localSpaceLinksKeptInWM); Parameters::parse(parameters, Parameters::kMemLocalSpaceLinksKeptInWM(), _localSpaceLinksKeptInWM);
@@ -607,7 +609,7 @@ bool Memory::update(const SensorData & data, Statistics * stats)
} }
} }
} }
_workingMem.insert(_workingMem.end(), *_stMem.begin()); _workingMem.insert(_workingMem.end(), std::make_pair(*_stMem.begin(), UTimer::now()));
_stMem.erase(*_stMem.begin()); _stMem.erase(*_stMem.begin());
++_signaturesAdded; ++_signaturesAdded;
} }
@@ -729,7 +731,7 @@ void Memory::addSignatureToWm(Signature * signature)
if(signature) if(signature)
{ {
UDEBUG("Inserting node %d in WM...", signature->id()); UDEBUG("Inserting node %d in WM...", signature->id());
_workingMem.insert(signature->id()); _workingMem.insert(std::make_pair(signature->id(), UTimer::now()));
_signatures.insert(std::pair<int, Signature*>(signature->id(), signature)); _signatures.insert(std::pair<int, Signature*>(signature->id(), signature));
++_signaturesAdded; ++_signaturesAdded;
} }
@@ -952,7 +954,7 @@ int Memory::incrementMapId()
} }
} }
} }
_workingMem.insert(_workingMem.end(), *_stMem.begin()); _workingMem.insert(_workingMem.end(), std::make_pair(*_stMem.begin(), UTimer::now()));
_stMem.erase(*_stMem.begin()); _stMem.erase(*_stMem.begin());
} }
@@ -961,6 +963,15 @@ int Memory::incrementMapId()
return _idMapCount; return _idMapCount;
} }
void Memory::updateAge(int signatureId)
{
std::map<int, double>::iterator iter=_workingMem.find(signatureId);
if(iter!=_workingMem.end())
{
iter->second = UTimer::now();
}
}
int Memory::getDatabaseMemoryUsed() const int Memory::getDatabaseMemoryUsed() const
{ {
int memoryUsed = 0; int memoryUsed = 0;
@@ -1006,7 +1017,7 @@ void Memory::clear()
if(_dbDriver && (_stMem.size() || _workingMem.size())) if(_dbDriver && (_stMem.size() || _workingMem.size()))
{ {
unsigned int memSize = _workingMem.size() + _stMem.size(); unsigned int memSize = _workingMem.size() + _stMem.size();
if(_workingMem.size() && *_workingMem.begin() < 0) if(_workingMem.size() && _workingMem.begin()->first < 0)
{ {
--memSize; --memSize;
} }
@@ -1039,7 +1050,7 @@ void Memory::clear()
} }
} }
if(_workingMem.size() != 0 && !(_workingMem.size() == 1 && *_workingMem.begin() == kIdVirtual)) if(_workingMem.size() != 0 && !(_workingMem.size() == 1 && _workingMem.begin()->first == kIdVirtual))
{ {
ULOGGER_ERROR("_workingMem must be empty here, size=%d", _workingMem.size()); ULOGGER_ERROR("_workingMem must be empty here, size=%d", _workingMem.size());
} }
@@ -1211,20 +1222,20 @@ std::map<int, float> Memory::computeLikelihood(const Signature * signature, cons
std::map<int, int> Memory::getWeights() const std::map<int, int> Memory::getWeights() const
{ {
std::map<int, int> weights; std::map<int, int> weights;
for(std::set<int>::const_iterator iter=_workingMem.begin(); iter!=_workingMem.end(); ++iter) for(std::map<int, double>::const_iterator iter=_workingMem.begin(); iter!=_workingMem.end(); ++iter)
{ {
if(*iter > 0) if(iter->first > 0)
{ {
const Signature * s = this->getSignature(*iter); const Signature * s = this->getSignature(iter->first);
if(!s) if(!s)
{ {
UFATAL("Location %d must exist in memory", *iter); UFATAL("Location %d must exist in memory", iter->first);
} }
weights.insert(weights.end(), std::make_pair(*iter, s->getWeight())); weights.insert(weights.end(), std::make_pair(iter->first, s->getWeight()));
} }
else else
{ {
weights.insert(weights.end(), std::make_pair(*iter, -1)); weights.insert(weights.end(), std::make_pair(iter->first, -1));
} }
} }
return weights; return weights;
@@ -1323,13 +1334,14 @@ void Memory::joinTrashThread()
} }
} }
class WeightIdKey class WeightAgeIdKey
{ {
public: public:
WeightIdKey(int w, int i) : WeightAgeIdKey(int w, double a, int i) :
weight(w), weight(w),
id(i) {} age(a),
bool operator<(const WeightIdKey & k) const id(i){}
bool operator<(const WeightAgeIdKey & k) const
{ {
if(weight < k.weight) if(weight < k.weight)
{ {
@@ -1337,35 +1349,41 @@ public:
} }
else if(weight == k.weight) else if(weight == k.weight)
{ {
if(id < k.id) if(age < k.age)
{ {
return true; return true;
} }
else if(age == k.age)
{
if(id < k.id)
{
return true;
}
}
} }
return false; return false;
} }
int weight, id; int weight, age, id;
}; };
std::list<Signature *> Memory::getRemovableSignatures(int count, const std::set<int> & ignoredIds) std::list<Signature *> Memory::getRemovableSignatures(int count, const std::set<int> & ignoredIds)
{ {
//UDEBUG(""); //UDEBUG("");
std::list<Signature *> removableSignatures; std::list<Signature *> removableSignatures;
std::map<WeightIdKey, Signature *> signatureMap; std::map<WeightAgeIdKey, Signature *> weightAgeIdMap;
// Find the last index to check... // Find the last index to check...
const std::set<int> & wm = _workingMem; UDEBUG("mem.size()=%d, ignoredIds.size()=%d", (int)_workingMem.size(), (int)ignoredIds.size());
UDEBUG("mem.size()=%d, ignoredIds.size()=%d", wm.size(), ignoredIds.size());
if(wm.size()) if(_workingMem.size())
{ {
int recentWmMaxSize = _recentWmRatio * float(wm.size()); int recentWmMaxSize = _recentWmRatio * float(_workingMem.size());
bool recentWmImmunized = false; bool recentWmImmunized = false;
// look for the position of the lastLoopClosureId in WM // look for the position of the lastLoopClosureId in WM
int currentRecentWmSize = 0; int currentRecentWmSize = 0;
if(_lastGlobalLoopClosureId > 0 && _stMem.find(_lastGlobalLoopClosureId) == _stMem.end()) if(_lastGlobalLoopClosureId > 0 && _stMem.find(_lastGlobalLoopClosureId) == _stMem.end())
{ {
// If set, it must be in WM // If set, it must be in WM
std::set<int>::const_iterator iter = _workingMem.find(_lastGlobalLoopClosureId); std::map<int, double>::const_iterator iter = _workingMem.find(_lastGlobalLoopClosureId);
while(iter != _workingMem.end()) while(iter != _workingMem.end())
{ {
++currentRecentWmSize; ++currentRecentWmSize;
@@ -1389,16 +1407,16 @@ std::list<Signature *> Memory::getRemovableSignatures(int count, const std::set<
lastInSTM = _signatures.at(*_stMem.begin()); lastInSTM = _signatures.at(*_stMem.begin());
} }
for(std::set<int>::const_iterator memIter = wm.begin(); memIter != wm.end(); ++memIter) for(std::map<int, double>::const_iterator memIter = _workingMem.begin(); memIter != _workingMem.end(); ++memIter)
{ {
if( (recentWmImmunized && *memIter > _lastGlobalLoopClosureId) || if( (recentWmImmunized && memIter->first > _lastGlobalLoopClosureId) ||
*memIter == _lastGlobalLoopClosureId) memIter->first == _lastGlobalLoopClosureId)
{ {
// ignore recent memory // ignore recent memory
} }
else if(*memIter > 0 && ignoredIds.find(*memIter) == ignoredIds.end() && (!lastInSTM || !lastInSTM->hasLink(*memIter))) else if(memIter->first > 0 && ignoredIds.find(memIter->first) == ignoredIds.end() && (!lastInSTM || !lastInSTM->hasLink(memIter->first)))
{ {
Signature * s = this->_getSignature(*memIter); Signature * s = this->_getSignature(memIter->first);
if(s) if(s)
{ {
// Links must not be in STM to be removable, rehearsal issue // Links must not be in STM to be removable, rehearsal issue
@@ -1415,7 +1433,7 @@ std::list<Signature *> Memory::getRemovableSignatures(int count, const std::set<
if(!foundInSTM) if(!foundInSTM)
{ {
// less weighted signature priority to be transferred // less weighted signature priority to be transferred
signatureMap.insert(std::make_pair(WeightIdKey(s->getWeight(), s->id()), s)); weightAgeIdMap.insert(std::make_pair(WeightAgeIdKey(s->getWeight(), _transferSortingByWeightId?0.0:memIter->second, s->id()), s));
} }
} }
else else
@@ -1430,12 +1448,11 @@ std::list<Signature *> Memory::getRemovableSignatures(int count, const std::set<
} }
int recentWmCount = 0; int recentWmCount = 0;
std::set<int> addedSignatures;
// make the list of removable signatures // make the list of removable signatures
// Criteria : Weight -> ID // Criteria : Weight -> ID
UDEBUG("signatureMap.size()=%d", (int)signatureMap.size()); UDEBUG("signatureMap.size()=%d", (int)weightAgeIdMap.size());
for(std::map<WeightIdKey, Signature*>::iterator iter=signatureMap.begin(); for(std::map<WeightAgeIdKey, Signature*>::iterator iter=weightAgeIdMap.begin();
iter!=signatureMap.end(); iter!=weightAgeIdMap.end();
++iter) ++iter)
{ {
bool removable = true; bool removable = true;
@@ -1444,10 +1461,9 @@ std::list<Signature *> Memory::getRemovableSignatures(int count, const std::set<
if(!recentWmImmunized) if(!recentWmImmunized)
{ {
UDEBUG("weight=%d, id=%d", UDEBUG("weight=%d, id=%d",
iter->first.weight, iter->second->getWeight(),
iter->second->id()); iter->second->id());
removableSignatures.push_back(iter->second); removableSignatures.push_back(iter->second);
addedSignatures.insert(iter->second->id());
if(iter->second->id() > _lastGlobalLoopClosureId) if(iter->second->id() > _lastGlobalLoopClosureId)
{ {
@@ -1462,10 +1478,9 @@ std::list<Signature *> Memory::getRemovableSignatures(int count, const std::set<
else if(iter->second->id() < _lastGlobalLoopClosureId) else if(iter->second->id() < _lastGlobalLoopClosureId)
{ {
UDEBUG("weight=%d, id=%d", UDEBUG("weight=%d, id=%d",
iter->first.weight, iter->second->getWeight(),
iter->second->id()); iter->second->id());
removableSignatures.push_back(iter->second); removableSignatures.push_back(iter->second);
addedSignatures.insert(iter->second->id());
} }
if(removableSignatures.size() >= (unsigned int)count) if(removableSignatures.size() >= (unsigned int)count)
{ {
@@ -1584,7 +1599,7 @@ void Memory::moveToTrash(Signature * s, bool saveToDatabase, std::list<int> * de
} }
else if(_workingMem.size()) else if(_workingMem.size())
{ {
_lastSignature = this->_getSignature(*_workingMem.rbegin()); _lastSignature = this->_getSignature(_workingMem.rbegin()->first);
} }
} }
corelib/src/Rtabmap.cpp
+10 -8
View File
@@ -462,7 +462,7 @@ std::list<int> Rtabmap::getWM() const
std::list<int> mem; std::list<int> mem;
if(_memory) if(_memory)
{ {
mem = std::list<int>(_memory->getWorkingMem().begin(), _memory->getWorkingMem().end()); mem = uKeysList(_memory->getWorkingMem());
mem.remove(-1);// Ignore the virtual signature (if here) mem.remove(-1);// Ignore the virtual signature (if here)
} }
return mem; return mem;
@@ -991,9 +991,7 @@ bool Rtabmap::process(const SensorData & data)
// with all images contained in the working memory + reactivated. // with all images contained in the working memory + reactivated.
//============================================================ //============================================================
ULOGGER_INFO("computing likelihood..."); ULOGGER_INFO("computing likelihood...");
const std::set<int> & wm = _memory->getWorkingMem(); std::list<int> signaturesToCompare = uKeysList(_memory->getWorkingMem());
std::list<int> signaturesToCompare(wm.begin(), wm.end());
rawLikelihood = _memory->computeLikelihood(signature, signaturesToCompare); rawLikelihood = _memory->computeLikelihood(signature, signaturesToCompare);
// Adjust the likelihood (with mean and std dev) // Adjust the likelihood (with mean and std dev)
@@ -1309,6 +1307,11 @@ bool Rtabmap::process(const SensorData & data)
} }
} }
} }
// update Age of the close signatures (oldest the farthest)
for(std::multimap<float, int>::reverse_iterator iter=nearNodesByDist.rbegin(); iter!=nearNodesByDist.rend(); ++iter)
{
_memory->updateAge(iter->second);
}
} }
// insert them first to make sure they are loaded. // insert them first to make sure they are loaded.
@@ -2257,8 +2260,7 @@ void Rtabmap::dumpPrediction() const
{ {
if(_memory && _bayesFilter) if(_memory && _bayesFilter)
{ {
const std::set<int> & wm = _memory->getWorkingMem(); cv::Mat prediction = _bayesFilter->generatePrediction(_memory, uKeys(_memory->getWorkingMem()));
cv::Mat prediction = _bayesFilter->generatePrediction(_memory, std::vector<int>(wm.begin(), wm.end()));
FILE* fout = 0; FILE* fout = 0;
std::string fileName = this->getWorkingDir() + "/DumpPrediction.txt"; std::string fileName = this->getWorkingDir() + "/DumpPrediction.txt";
@@ -2331,12 +2333,12 @@ void Rtabmap::get3DMap(std::map<int, Signature> & signatures,
// Get data // Get data
std::set<int> ids = _memory->getWorkingMem(); // STM + WM std::set<int> ids = uKeysSet(_memory->getWorkingMem()); // WM
//remove virtual signature //remove virtual signature
ids.erase(Memory::kIdVirtual); ids.erase(Memory::kIdVirtual);
ids.insert(_memory->getStMem().begin(), _memory->getStMem().end()); ids.insert(_memory->getStMem().begin(), _memory->getStMem().end()); // STM + WM
if(global) if(global)
{ {
ids = _memory->getAllSignatureIds(); // STM + WM + LTM ids = _memory->getAllSignatureIds(); // STM + WM + LTM
guilib/src/PreferencesDialog.cpp
+1
View File
@@ -343,6 +343,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->doubleSpinBox_similarityThreshold->setObjectName(Parameters::kMemRehearsalSimilarity().c_str()); _ui->doubleSpinBox_similarityThreshold->setObjectName(Parameters::kMemRehearsalSimilarity().c_str());
_ui->general_checkBox_SLAM_mode->setObjectName(Parameters::kMemIncrementalMemory().c_str()); _ui->general_checkBox_SLAM_mode->setObjectName(Parameters::kMemIncrementalMemory().c_str());
_ui->general_doubleSpinBox_recentWmRatio->setObjectName(Parameters::kMemRecentWmRatio().c_str()); _ui->general_doubleSpinBox_recentWmRatio->setObjectName(Parameters::kMemRecentWmRatio().c_str());
_ui->general_checkBox_transferSortingByWeightId->setObjectName(Parameters::kMemTransferSortingByWeightId().c_str());
_ui->general_checkBox_RehearsalIdUpdatedToNewOne->setObjectName(Parameters::kMemRehearsalIdUpdatedToNewOne().c_str()); _ui->general_checkBox_RehearsalIdUpdatedToNewOne->setObjectName(Parameters::kMemRehearsalIdUpdatedToNewOne().c_str());
_ui->general_checkBox_generateIds->setObjectName(Parameters::kMemGenerateIds().c_str()); _ui->general_checkBox_generateIds->setObjectName(Parameters::kMemGenerateIds().c_str());
_ui->general_checkBox_badSignaturesIgnored->setObjectName(Parameters::kMemBadSignaturesIgnored().c_str()); _ui->general_checkBox_badSignaturesIgnored->setObjectName(Parameters::kMemBadSignaturesIgnored().c_str());
guilib/src/ui/preferencesDialog.ui
+38 -18
View File
@@ -64,8 +64,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>737</width> <width>744</width>
<height>1320</height> <height>1110</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_16"> <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
</property> </property>
<property name="currentIndex"> <property name="currentIndex">
<number>3</number> <number>7</number>
</property> </property>
<widget class="QWidget" name="page_22"> <widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29"> <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -2756,6 +2756,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<layout class="QVBoxLayout" name="verticalLayout_10"> <layout class="QVBoxLayout" name="verticalLayout_10">
<item> <item>
<layout class="QGridLayout" name="gridLayout_42" columnstretch="0,1"> <layout class="QGridLayout" name="gridLayout_42" columnstretch="0,1">
<item row="8" column="0">
<widget class="QSpinBox" name="spinBox_imageDecimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>16</number>
</property>
</widget>
</item>
<item row="0" column="0"> <item row="0" column="0">
<widget class="QSpinBox" name="general_spinBox_maxStMemSize"> <widget class="QSpinBox" name="general_spinBox_maxStMemSize">
<property name="minimum"> <property name="minimum">
@@ -2769,7 +2779,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="1"> <item row="6" column="1">
<widget class="QLabel" name="label_retrieved_4"> <widget class="QLabel" name="label_retrieved_4">
<property name="text"> <property name="text">
<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> <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>
@@ -2841,7 +2851,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="0"> <item row="4" column="0">
<widget class="QCheckBox" name="general_checkBox_generateIds"> <widget class="QCheckBox" name="general_checkBox_generateIds">
<property name="text"> <property name="text">
<string/> <string/>
@@ -2851,7 +2861,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="1"> <item row="4" column="1">
<widget class="QLabel" name="label_retrieved_2"> <widget class="QLabel" name="label_retrieved_2">
<property name="text"> <property name="text">
<string>True=Generate location Ids, False=use input image ids.</string> <string>True=Generate location Ids, False=use input image ids.</string>
@@ -2861,7 +2871,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="0"> <item row="5" column="0">
<widget class="QCheckBox" name="general_checkBox_badSignaturesIgnored"> <widget class="QCheckBox" name="general_checkBox_badSignaturesIgnored">
<property name="text"> <property name="text">
<string/> <string/>
@@ -2871,7 +2881,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="1"> <item row="5" column="1">
<widget class="QLabel" name="label_retrieved_3"> <widget class="QLabel" name="label_retrieved_3">
<property name="text"> <property name="text">
<string>Bad signatures are ignored.</string> <string>Bad signatures are ignored.</string>
@@ -2881,7 +2891,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="0"> <item row="6" column="0">
<widget class="QCheckBox" name="general_checkBox_initWMWithAllNodes"> <widget class="QCheckBox" name="general_checkBox_initWMWithAllNodes">
<property name="text"> <property name="text">
<string/> <string/>
@@ -2891,7 +2901,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="1"> <item row="7" column="1">
<widget class="QLabel" name="label_retrieved_5"> <widget class="QLabel" name="label_retrieved_5">
<property name="text"> <property name="text">
<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> <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>
@@ -2901,7 +2911,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="0"> <item row="7" column="0">
<widget class="QCheckBox" name="general_checkBox_keepRawData"> <widget class="QCheckBox" name="general_checkBox_keepRawData">
<property name="text"> <property name="text">
<string/> <string/>
@@ -2911,7 +2921,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="7" column="1"> <item row="8" column="1">
<widget class="QLabel" name="label_retrieved_6"> <widget class="QLabel" name="label_retrieved_6">
<property name="text"> <property name="text">
<string>Image decimation. This feature can be used to save images in lower resolution (size/decimation).</string> <string>Image decimation. This feature can be used to save images in lower resolution (size/decimation).</string>
@@ -2921,13 +2931,23 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="7" column="0"> <item row="3" column="1">
<widget class="QSpinBox" name="spinBox_imageDecimation"> <widget class="QLabel" name="label_retrieved_7">
<property name="minimum"> <property name="text">
<number>1</number> <string>On transfer, signatures are sorted by weight-&gt;ID (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight-&gt;Age (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID.</string>
</property> </property>
<property name="maximum"> <property name="wordWrap">
<number>16</number> <bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="general_checkBox_transferSortingByWeightId">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property> </property>
</widget> </widget>
</item> </item>
package.xml
+1 -1
View File
@@ -1,7 +1,7 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<package> <package>
<name>rtabmap</name> <name>rtabmap</name>
<version>0.8.5</version> <version>0.8.6</version>
<description>RTAB-Map's standalone library. RTAB-Map is an RGB-D SLAM approach with real-time constraints.</description> <description>RTAB-Map's standalone library. RTAB-Map is an RGB-D SLAM approach with real-time constraints.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer> <maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author> <author>Mathieu Labbe</author>