i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Updated version to 0.8.0

Browse Source 
Libraries are installed in lib directly with symbolic links, not in lib/rtabmap-0.8. Removed the need of RPATH in cmake.
Saving variance of each link in database (new field Link.variance). The variance is used to generate the constraint information matrices for TORO optimization.
ICP: computing variance instead of fitness.
ICP3: added correspondences ratio parameter
Added OdometryInfo class
Refactoring: renamed depth2d stuff to laserScan. rtabmap::Memory and rtabmap::Signature classes (no more distinct neighbor, loop closure or child loop closure links, only links with different types)
This commit is contained in:
Mathieu Labbe
2014-12-14 16:42:10 -05:00
parent 6acf374063
commit 744e2fb3c7
42 changed files with 1764 additions and 1460 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
corelib/src/DBDriver.cpp
View File

@@ -406,7 +406,7 @@ void DBDriver::getNodeData(
int signatureId,
cv::Mat & imageCompressed,
cv::Mat & depthCompressed,
cv::Mat & depth2dCompressed,
cv::Mat & laserScanCompressed,
float & fx,
float & fy,
float & cx,
@@ -414,7 +414,7 @@ void DBDriver::getNodeData(
Transform & localTransform) const
{
_dbSafeAccessMutex.lock();
this->getNodeDataQuery(signatureId, imageCompressed, depthCompressed, depth2dCompressed, fx, fy, cx, cy, localTransform);
this->getNodeDataQuery(signatureId, imageCompressed, depthCompressed, laserScanCompressed, fx, fy, cx, cy, localTransform);
_dbSafeAccessMutex.unlock();
}
@@ -435,10 +435,10 @@ void DBDriver::getPose(int signatureId, Transform & pose, int & mapId) const
}
//TODO Check also in the trash ?
void DBDriver::loadNeighbors(int signatureId, std::map<int, Transform> & neighbors) const
void DBDriver::loadLinks(int signatureId, std::map<int, Link> & links, Link::Type type) const
{
_dbSafeAccessMutex.lock();
this->loadNeighborsQuery(signatureId, neighbors);
this->loadLinksQuery(signatureId, links, type);
_dbSafeAccessMutex.unlock();
}
@@ -450,14 +450,6 @@ void DBDriver::getWeight(int signatureId, int & weight) const
_dbSafeAccessMutex.unlock();
}
//TODO Check also in the trash ?
void DBDriver::loadLoopClosures(int signatureId, std::map<int, Transform> & loopIds, std::map<int, Transform> & childIds) const
{
_dbSafeAccessMutex.lock();
this->loadLoopClosuresQuery(signatureId, loopIds, childIds);
_dbSafeAccessMutex.unlock();
}
//TODO Check also in the trash ?
void DBDriver::getAllNodeIds(std::set<int> & ids, bool ignoreChildren) const
{