bump patch

We are shortly going to be removing octomap the package
from ROS 2 Rolling; that's because it's ABI conflicts with
the system package.  Instead, switch rtabmap to use the system
package, which should work fine.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>

CMakeLists.txt

@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
 SET(RTABMAP_MINOR_VERSION 21)
-SET(RTABMAP_PATCH_VERSION 5)
+SET(RTABMAP_PATCH_VERSION 6)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
   

guilib/include/rtabmap/gui/DatabaseViewer.h

@@ -201,7 +201,7 @@ private:
 	void updateCovariances(const QList<Link> & links);
 	void refineLinks(const QList<Link> & links);
 	void refineConstraint(int from, int to,  bool silent);
-	bool addConstraint(int from, int to, bool silent);
+	bool addConstraint(int from, int to, bool silent, bool silentlyUseOptimizedGraphAsGuess = false);
 	void exportPoses(int format);
 	void exportGPS(int format);
 

guilib/src/DatabaseViewer.cpp

@@ -468,6 +468,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
 	connect(ui_->spinBox_detectMore_iterations, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
 	connect(ui_->checkBox_detectMore_intraSession, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
 	connect(ui_->checkBox_detectMore_interSession, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
+	connect(ui_->checkBox_opt_graph_as_guess, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
 
 	connect(ui_->lineEdit_obstacleColor, SIGNAL(textChanged(const QString &)), this, SLOT(configModified()));
 	connect(ui_->lineEdit_groundColor, SIGNAL(textChanged(const QString &)), this, SLOT(configModified()));
@@ -635,6 +636,7 @@ void DatabaseViewer::readSettings()
 	ui_->spinBox_detectMore_iterations->setValue(settings.value("iterations", ui_->spinBox_detectMore_iterations->value()).toInt());
 	ui_->checkBox_detectMore_intraSession->setChecked(settings.value("intra_session", ui_->checkBox_detectMore_intraSession->isChecked()).toBool());
 	ui_->checkBox_detectMore_interSession->setChecked(settings.value("inter_session", ui_->checkBox_detectMore_interSession->isChecked()).toBool());
+	ui_->checkBox_opt_graph_as_guess->setChecked(settings.value("opt_graph_as_guess", ui_->checkBox_opt_graph_as_guess->isChecked()).toBool());
 	settings.endGroup();
 	settings.endGroup();
 
@@ -725,6 +727,7 @@ void DatabaseViewer::writeSettings()
 	settings.setValue("iterations", ui_->spinBox_detectMore_iterations->value());
 	settings.setValue("intra_session", ui_->checkBox_detectMore_intraSession->isChecked());
 	settings.setValue("inter_session", ui_->checkBox_detectMore_interSession->isChecked());
+	settings.setValue("opt_graph_as_guess", ui_->checkBox_opt_graph_as_guess->isChecked());
 	settings.endGroup();
 	settings.endGroup();
 
@@ -802,6 +805,7 @@ void DatabaseViewer::restoreDefaultSettings()
 	ui_->spinBox_detectMore_iterations->setValue(5);
 	ui_->checkBox_detectMore_intraSession->setChecked(true);
 	ui_->checkBox_detectMore_interSession->setChecked(true);
+	ui_->checkBox_opt_graph_as_guess->setChecked(true);
 }
 
 void DatabaseViewer::openDatabase()
@@ -4215,6 +4219,7 @@ void DatabaseViewer::detectMoreLoopClosures()
 	std::pair<int, int> lastAdded(0,0);
 	bool intraSession = ui_->checkBox_detectMore_intraSession->isChecked();
 	bool interSession = ui_->checkBox_detectMore_interSession->isChecked();
+	bool useOptimizedGraphAsGuess = ui_->checkBox_opt_graph_as_guess->isChecked();
 	if(!interSession && !intraSession)
 	{
 		QMessageBox::warning(this, tr("Cannot detect more loop closures"), tr("Intra and inter session parameters are disabled! Enable one or both."));
@@ -4268,7 +4273,7 @@ void DatabaseViewer::detectMoreLoopClosures()
 						   delta.getNorm() >= ui_->doubleSpinBox_detectMore_radiusMin->value())
 						{
 							checkedLoopClosures.insert(std::make_pair(from, to));
-							if(addConstraint(from, to, true))
+							if(addConstraint(from, to, true, useOptimizedGraphAsGuess))
 							{
 								UINFO("Added new loop closure between %d and %d.", from, to);
 								++added;
@@ -8560,7 +8565,7 @@ void DatabaseViewer::addConstraint()
 	addConstraint(from, to, false);
 }
 
-bool DatabaseViewer::addConstraint(int from, int to, bool silent)
+bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool silentlyUseOptimizedGraphAsGuess)
 {
 	bool switchedIds = false;
 	if(from == to)
@@ -8728,7 +8733,7 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
 								guessFromGraphRejected = true;
 							}
 						}
-						else
+						else if(silentlyUseOptimizedGraphAsGuess)
 						{
 							guess = fromIter->second.inverse() * toIter->second;
 						}

guilib/src/ui/DatabaseViewer.ui

@@ -61,7 +61,7 @@
           <rect>
            <x>0</x>
            <y>0</y>
-           <width>307</width>
+           <width>417</width>
            <height>389</height>
           </rect>
          </property>
@@ -392,7 +392,7 @@
           <rect>
            <x>0</x>
            <y>0</y>
-           <width>306</width>
+           <width>416</width>
            <height>389</height>
           </rect>
          </property>
@@ -1634,7 +1634,7 @@
      <item>
       <widget class="QToolBox" name="toolBox">
        <property name="currentIndex">
-        <number>1</number>
+        <number>2</number>
        </property>
        <widget class="QWidget" name="page_3">
         <property name="geometry">
@@ -2458,24 +2458,17 @@
         <property name="geometry">
          <rect>
           <x>0</x>
-          <y>0</y>
+          <y>-42</y>
-          <width>226</width>
+          <width>298</width>
-          <height>192</height>
+          <height>272</height>
          </rect>
         </property>
         <attribute name="label">
          <string>Detect more loop closures</string>
         </attribute>
         <layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
-         <item row="4" column="1">
+         <item row="1" column="0">
-          <widget class="QLabel" name="label_32">
+          <widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radiusMin">
-           <property name="text">
-            <string>Intra-session</string>
-           </property>
-          </widget>
-         </item>
-         <item row="0" column="0">
-          <widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radius">
            <property name="suffix">
             <string> m</string>
            </property>
@@ -2489,10 +2482,37 @@
             <double>0.100000000000000</double>
            </property>
            <property name="value">
-            <double>1.000000000000000</double>
+            <double>0.000000000000000</double>
            </property>
           </widget>
          </item>
+         <item row="1" column="1">
+          <widget class="QLabel" name="label_36">
+           <property name="text">
+            <string>Radius Min</string>
+           </property>
+          </widget>
+         </item>
+         <item row="4" column="1">
+          <widget class="QLabel" name="label_32">
+           <property name="text">
+            <string>Intra-session</string>
+           </property>
+          </widget>
+         </item>
+         <item row="7" column="0">
+          <spacer name="verticalSpacer_5">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>40</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
          <item row="0" column="1">
           <widget class="QLabel" name="label_29">
            <property name="text">
@@ -2500,6 +2520,13 @@
            </property>
           </widget>
          </item>
+         <item row="2" column="1">
+          <widget class="QLabel" name="label_30">
+           <property name="text">
+            <string>Angle</string>
+           </property>
+          </widget>
+         </item>
          <item row="2" column="0">
           <widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_angle">
            <property name="suffix">
@@ -2519,10 +2546,22 @@
            </property>
           </widget>
          </item>
-         <item row="2" column="1">
+         <item row="0" column="0">
-          <widget class="QLabel" name="label_30">
+          <widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radius">
-           <property name="text">
+           <property name="suffix">
-            <string>Angle</string>
+            <string> m</string>
+           </property>
+           <property name="decimals">
+            <number>2</number>
+           </property>
+           <property name="maximum">
+            <double>10.000000000000000</double>
+           </property>
+           <property name="singleStep">
+            <double>0.100000000000000</double>
+           </property>
+           <property name="value">
+            <double>1.000000000000000</double>
            </property>
           </widget>
          </item>
@@ -2539,6 +2578,13 @@
            </property>
           </widget>
          </item>
+         <item row="4" column="0">
+          <widget class="QCheckBox" name="checkBox_detectMore_intraSession">
+           <property name="text">
+            <string/>
+           </property>
+          </widget>
+         </item>
          <item row="3" column="1">
           <widget class="QLabel" name="label_31">
            <property name="text">
@@ -2546,19 +2592,6 @@
            </property>
           </widget>
          </item>
-         <item row="6" column="0">
-          <spacer name="verticalSpacer_5">
-           <property name="orientation">
-            <enum>Qt::Vertical</enum>
-           </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>20</width>
-             <height>40</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
          <item row="5" column="1">
           <widget class="QLabel" name="label_34">
            <property name="text">
@@ -2566,13 +2599,6 @@
            </property>
           </widget>
          </item>
-         <item row="4" column="0">
-          <widget class="QCheckBox" name="checkBox_detectMore_intraSession">
-           <property name="text">
-            <string/>
-           </property>
-          </widget>
-         </item>
          <item row="5" column="0">
           <widget class="QCheckBox" name="checkBox_detectMore_interSession">
            <property name="text">
@@ -2580,29 +2606,23 @@
            </property>
           </widget>
          </item>
-         <item row="1" column="1">
+         <item row="6" column="0">
-          <widget class="QLabel" name="label_36">
+          <widget class="QCheckBox" name="checkBox_opt_graph_as_guess">
            <property name="text">
-            <string>Radius Min</string>
+            <string/>
+           </property>
+           <property name="checked">
+            <bool>true</bool>
            </property>
           </widget>
          </item>
-         <item row="1" column="0">
+         <item row="6" column="1">
-          <widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radiusMin">
+          <widget class="QLabel" name="label_37">
-           <property name="suffix">
+           <property name="text">
-            <string> m</string>
+            <string>Use optimized graph as guess</string>
            </property>
-           <property name="decimals">
+           <property name="wordWrap">
-            <number>2</number>
+            <bool>true</bool>
-           </property>
-           <property name="maximum">
-            <double>10.000000000000000</double>
-           </property>
-           <property name="singleStep">
-            <double>0.100000000000000</double>
-           </property>
-           <property name="value">
-            <double>0.000000000000000</double>
            </property>
           </widget>
          </item>
@@ -2613,8 +2633,8 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>185</width>
+          <width>432</width>
-          <height>485</height>
+          <height>196</height>
          </rect>
         </property>
         <attribute name="label">

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>rtabmap</name>
-  <version>0.21.5</version>
+  <version>0.21.6</version>
   <description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>
@@ -15,14 +15,14 @@
   <build_depend>proj</build_depend>
   <depend>cv_bridge</depend>
   <depend>libg2o</depend>
-  <!-- <depend>gtsam</depend> // Uncomment when this issue https://github.com/borglab/gtsam/issues/1759 is fixed and new binaries are available-->
+  <depend>gtsam</depend>
   <!-- <depend>libopenni2-dev</depend> --> <!-- not available on Jessie -->
   <depend>libpcl-all-dev</depend> <!--  include libvtk-qt -->
   <depend>libpointmatcher</depend> <!-- optional but recommended if lidar is used, also not available on 32 bits system, but rtabmap can be built without it -->
   <!-- <depend>libproj-dev</depend> needed due to error in vtk6 (kinetic)-->
   <depend>libsqlite3-dev</depend>
-  <depend>octomap</depend>
+  <depend>liboctomap-dev</depend>
-<!--  <depend>grid_map_core</depend> // Uncomment when available on jazzy -->
+  <depend>grid_map_core</depend>
   <depend>qt_gui_cpp</depend> <!-- libqt4-dev or libqt5-dev -->
   <depend>zlib</depend>