mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Updated version to 0.8.0
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
@@ -63,9 +63,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<y>-305</y>
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<width>744</width>
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<height>1074</height>
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<height>1252</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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@@ -86,7 +86,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>1</number>
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<number>19</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29">
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@@ -5174,7 +5174,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<item row="2" column="1">
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<widget class="QLabel" name="label_151">
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<property name="text">
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<string>Optimize graph from the newest node.
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@@ -5187,13 +5187,30 @@ Warning when set to false: when some nodes are transferred, the first referentia
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<item row="2" column="0">
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<widget class="QCheckBox" name="globalDetection_optimizeFromGraphEnd">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QCheckBox" name="globalDetection_toroIgnoreVariance">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_141">
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<property name="text">
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<string>Ignore constraints' variance. If checked, identity information matrix is used for each constraint in TORO. Otherwise, an information matrix is generated from the variance saved in the links.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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@@ -5209,7 +5226,7 @@ Warning when set to false: when some nodes are transferred, the first referentia
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<item>
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<widget class="QLabel" name="label_54">
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<property name="text">
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<string>Activate local detection over all locations in STM. The Bayes filter is not used here, so it may results in more false detections. The same 2-steps technique as for global loop closure constraints is used here.</string>
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<string>Activate local detection over all locations in STM. The Bayes filter is not used here: If there are enough correspondences between the current image and others in STM, transformations are computed. The same 2-steps technique as for global loop closure constraints is used here. This generates more constraints in the map's graph, so more time is required to optimize the graph.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -5837,19 +5854,25 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QDoubleSpinBox" name="loopClosure_icpMaxFitness">
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<widget class="QDoubleSpinBox" name="loopClosure_icpRatio">
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>30.000000000000000</double>
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<double>0.700000000000000</double>
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</property>
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</widget>
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</item>
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<item row="6" column="1">
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<widget class="QLabel" name="label_133">
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<property name="text">
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<string>Maximum fitness to accept the computed transform.</string>
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<string>Ratio of matching correspondences to accept the transform.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -5955,26 +5978,6 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="loopClosure_icp2MaxFitness">
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<property name="minimum">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>30.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_141">
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<property name="text">
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<string>Maximum fitness to accept the computed transform.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="loopClosure_icp2Ratio">
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<property name="minimum">
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<double>0.000000000000000</double>
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@@ -5986,11 +5989,11 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.900000000000000</double>
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<double>0.700000000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<item row="2" column="1">
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<widget class="QLabel" name="label_148">
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<property name="text">
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<string>Ratio of matching correspondences to accept the transform.</string>
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@@ -6000,17 +6003,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_150">
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<property name="text">
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<string>Voxel size. Set to 0 to disable voxel filtering.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="loopClosure_icp2Voxel">
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<property name="suffix">
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<string> m</string>
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@@ -6032,6 +6025,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_150">
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<property name="text">
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<string>Voxel size. Set to 0 to disable voxel filtering.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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