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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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7
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -95,6 +95,7 @@ private slots:
void addConstraint();
void resetConstraint();
void rejectConstraint();
void updateConstraintView();
private:
void updateIds();
@@ -120,9 +121,9 @@ private:
std::multimap<int, rtabmap::Link> updateLinksWithModifications(
const std::multimap<int, rtabmap::Link> & edgeConstraints);
void updateLoopClosuresSlider(int from = 0, int to = 0);
void refineConstraint(int from, int to);
void refineConstraintVisually(int from, int to);
bool addConstraint(int from, int to, bool silent);
void refineConstraint(int from, int to, bool updateGraph);
void refineConstraintVisually(int from, int to, bool updateGraph);
bool addConstraint(int from, int to, bool silent, bool updateGraph);
private:
Ui_DatabaseViewer * ui_;

5
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -35,6 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QSet>
#include "rtabmap/core/RtabmapEvent.h"
#include "rtabmap/core/SensorData.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/gui/PreferencesDialog.h"
#include <pcl/point_cloud.h>
@@ -148,7 +149,7 @@ private slots:
void selectScreenCaptureFormat(bool checked);
void takeScreenshot();
void updateElapsedTime();
void processOdometry(const rtabmap::SensorData & data, int quality, float time, int features, int localMapSize);
void processOdometry(const rtabmap::SensorData & data, const rtabmap::OdometryInfo & info);
void applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags);
void applyPrefSettings(const rtabmap::ParametersMap & parameters);
void processRtabmapEventInit(int status, const QString & info);
@@ -179,7 +180,7 @@ private slots:
signals:
void statsReceived(const rtabmap::Statistics &);
void odometryReceived(const rtabmap::SensorData &, int, float, int, int);
void odometryReceived(const rtabmap::SensorData &, const rtabmap::OdometryInfo &);
void thresholdsChanged(int, int);
void stateChanged(MainWindow::State);
void rtabmapEventInitReceived(int status, const QString & info);