i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

Integration of the path planner into rtabmap's memory management to actually retrieve nodes on the planned path on the graph.

Browse Source 
Added Rtabmap::clearPath(), Rtabmap::computePath(), Rtabmap::getPathGoalId() and Rtabmap::updateGoalIndex() methods.
Added virtual links when path retrieval is activated (virtual links are not saved to database and removed when the path goal is reached).
New parameters: RGBD/GoalReachedRadius and RGBD/MaxAnticipatedNodes
Refactored how loop closure hypotheses are selected (fixed ratio between consecutive hypotheses, not the last loop closure).
Updated getNodesInRadius() to use all filtered scans.
GUI: window can be saved/loaded maximized
GUI: saving Graph View parameters to config.ini
This commit is contained in:
Mathieu Labbe
2015-01-30 15:30:57 -05:00
parent 45a5da9f16
commit a2dde36093
21 changed files with 929 additions and 310 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
tools/ConsoleApp/main.cpp
View File

@@ -502,12 +502,12 @@ int main(int argc, char * argv[])
if(rtabmap.getLoopClosureId())
{
printf(" iteration(%d) loop(%d) hyp(%.2f) time=%fs/%fs *\n",
count, rtabmap.getLoopClosureId(), rtabmap.getLcHypValue(), rtabmapTime, iterationTime);
count, rtabmap.getLoopClosureId(), rtabmap.getLoopClosureValue(), rtabmapTime, iterationTime);
}
else if(rtabmap.getRetrievedId())
else if(rtabmap.getHighestHypothesisId())
{
printf(" iteration(%d) high(%d) hyp(%.2f) time=%fs/%fs\n",
count, rtabmap.getRetrievedId(), rtabmap.getLcHypValue(), rtabmapTime, iterationTime);
count, rtabmap.getHighestHypothesisId(), rtabmap.getHighestHypothesisValue(), rtabmapTime, iterationTime);
}
else
{