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Updated version to 0.8.0

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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
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10
corelib/src/DBDriverSqlite3.h
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@@ -68,18 +68,14 @@ private:
virtual void loadLastNodesQuery(std::list<Signature *> & signatures) const;
virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const;
virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const;
virtual void loadNeighborsQuery(int signatureId, std::map<int, Transform> & neighbors) const;
virtual void loadLoopClosuresQuery(
int signatureId,
std::map<int, Transform> & loopIds,
std::map<int, Transform> & childIds) const;
virtual void loadLinksQuery(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const;
virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool loadMetricData) const;
virtual void getNodeDataQuery(
int signatureId,
cv::Mat & imageCompressed,
cv::Mat & depthCompressed,
cv::Mat & depth2dCompressed,
cv::Mat & laserScanCompressed,
float & fx,
float & fy,
float & cx,
@@ -113,7 +109,7 @@ private:
float cx,
float cy,
const Transform & localTransform) const;
void stepLink(sqlite3_stmt * ppStmt, int fromId, int toId, int type, const Transform & transform) const;
void stepLink(sqlite3_stmt * ppStmt, int fromId, int toId, int type, float variance, const Transform & transform) const;
void stepWordsChanged(sqlite3_stmt * ppStmt, int signatureId, int oldWordId, int newWordId) const;
void stepKeypoint(sqlite3_stmt * ppStmt, int signatureId, int wordId, const cv::KeyPoint & kp, const pcl::PointXYZ & pt) const;