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0.13.0 Database: Added velocity field to Node table, renamed Map_Node_Word table to Feature, added information_matrix field to Link table (replacing rot_variance and trans_variance). Added graph::calcKittiSequenceErrors().Added "Mem/IntermediateNodeDataKept" parameter (default false). Updated all interfaces using rotVariance and transVariance values with covariance matrix instead. g2o SBA: always use covariance in links. kitti-dataset tool: added --disp option and kitti statistics are shown at the end. StatsToolBox: units can have "/".

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This commit is contained in:
matlabbe
2017-05-04 16:13:45 -04:00
parent 414e3555a5
commit 104c1e6945
45 changed files with 1539 additions and 1148 deletions
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15
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -42,6 +42,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/point_types.h>
#include <rtabmap/core/Link.h>
#include <rtabmap/core/Signature.h>
class Ui_DatabaseViewer;
class QGraphicsScene;
@@ -88,9 +89,12 @@ private slots:
void generateGraph();
void exportDatabase();
void extractImages();
void exportPosesRaw();
void exportPosesRGBDSLAM();
void exportPosesKITTI();
void exportPosesTORO();
void exportPosesG2O();
void generateLocalGraph();
void generateTOROGraph();
void generateG2OGraph();
void regenerateLocalMaps();
void regenerateCurrentLocalMaps();
void view3DMap();
@@ -145,10 +149,8 @@ private:
void updateConstraintView(
const rtabmap::Link & link,
bool updateImageSliders = true,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloudFrom = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>),
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloudTo = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>),
const pcl::PointCloud<pcl::PointXYZ>::Ptr & scanFrom = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>),
const pcl::PointCloud<pcl::PointXYZ>::Ptr & scanTo = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>));
const Signature & signatureFrom = Signature(0),
const Signature & signatureTo = Signature(0));
void updateConstraintButtons();
Link findActiveLink(int from, int to);
bool containsLink(
@@ -160,6 +162,7 @@ private:
void updateLoopClosuresSlider(int from = 0, int to = 0);
void refineConstraint(int from, int to, bool silent);
bool addConstraint(int from, int to, bool silent);
void exportPoses(int format);
private:
Ui_DatabaseViewer * ui_;