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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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corelib/include/rtabmap/core/Statistics.h
+4 -2
View File
@@ -50,11 +50,14 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Loop, ReactivateId,);
RTABMAP_STATS(Loop, Hypothesis_ratio,);
RTABMAP_STATS(Loop, Hypothesis_reactivated,);
RTABMAP_STATS(Loop, Last_loop_closure_parent,);
RTABMAP_STATS(Loop, Last_loop_closure_child,);
RTABMAP_STATS(LocalLoop, Scan_matching_success,);
RTABMAP_STATS(LocalLoop, Odom_corrected,);
RTABMAP_STATS(LocalLoop, Time_closures,);
RTABMAP_STATS(LocalLoop, Space_closure_id,);
RTABMAP_STATS(LocalLoop, Space_neighbors,);
RTABMAP_STATS(LocalLoop, Space_diff_id,);
RTABMAP_STATS(Memory, Working_memory_size,);
RTABMAP_STATS(Memory, Short_time_memory_size,);
@@ -63,7 +66,6 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Memory, Images_buffered,);
RTABMAP_STATS(Memory, Rehearsal_sim,);
RTABMAP_STATS(Memory, Rehearsal_merged,);
RTABMAP_STATS(Memory, Last_loop_closure,);
RTABMAP_STATS(Timing, Memory_update, ms);
RTABMAP_STATS(Timing, Scan_matching, ms);