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Increased version to 0.6.2

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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
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15
app/src/main.cpp
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@@ -61,14 +61,16 @@ int main(int argc, char* argv[])
ULOGGER_INFO("Killing threads...");
rtabmap->join(true);
ULOGGER_INFO("Free memory...");
delete mainWindow;
ULOGGER_INFO("Closing RTAB-Map core...");
//Since we can't put the Rtabmap object in the MainWindow class,
//we pop up a message box indicating that the rtabmap object
// is being deleted (saving data to the database)
QMessageBox * msg = new QMessageBox(QMessageBox::Information, QObject::tr("RTAB-Map is closing..."), QObject::tr("The detector is saving the working memory to database (located in RTAB-Map's working directory)..."), QMessageBox::NoButton);
QMessageBox * msg = new QMessageBox(QMessageBox::Information,
QObject::tr("RTAB-Map is closing..."),
QObject::tr("The detector is saving the working memory to database (located in RTAB-Map's working directory)..."),
QMessageBox::NoButton,
mainWindow);
msg->setEnabled(false);
msg->setIconPixmap(QPixmap(":/images/RTAB-Map.ico"));
msg->setWindowIcon(QIcon(":/images/RTAB-Map.ico"));
@@ -78,7 +80,10 @@ int main(int argc, char* argv[])
UEventsManager::addHandler(&handler);
delThread.startDeletion(1); // make sure that app-exec() is called before the deletion of the object
app->exec();
delete msg;
ULOGGER_INFO("Closing RTAB-Map gui...");
delete mainWindow;
delete app;
ULOGGER_INFO("All done! Closing...");