mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
22e3082adc
Memory management tested on RGBD SLAM Fixed some crashes New parameter RGBD/LocalLoopDetectionMaxDiffID New parameter LccIcp2/VoxelSize Updated parameter LccIcp/Type (added "No ICP" type) Updated parameter kLccBowMinInliers (inliers minimum reduced to 1) TORO optimization: The graph root is explicitly defined as the last node added (fixed a TORO crash when a root could not be found) TORO optimization: only one constraint between neighbors and loop closures TORO optimization: added initial tree guess Map correction/Map transform: now only used in localization mode (map correction is always identity on mapping mode) New statistics: local loop space diff, last loop closure parent and child ids Database: Fixed empty signatures with no poses loaded ICP: fixed transform multiplication order Dump memory: added 3D words DatabaseViewer: added Export option (added ExportDialog object) DataRecorder: Option recording in RAM or Hard drive GUI: added a dock widget (MapVisibilityWidget) to change visibility of nodes in the 3D map GUI: fixed progress bar step count when generating the map Menu option: generate TORO graph (full/current map, optimized/not optimized) Menu option: download map (full/current map, optimized/not optimized) Preferences: added Reset all settings button Preferences: A QGroupBox can be a boolean parameter git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1066 f169173b-cf89-36c8-b27e-44dbe73f0c83
49 lines
1.4 KiB
C++
49 lines
1.4 KiB
C++
/*
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* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
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*
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* This file is part of RTAB-Map.
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*
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* RTAB-Map is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RTAB-Map is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <QtGui/QApplication>
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#include "rtabmap/gui/DatabaseViewer.h"
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#include "rtabmap/utilite/ULogger.h"
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int main(int argc, char * argv[])
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{
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ULogger::setType(ULogger::kTypeConsole);
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ULogger::setLevel(ULogger::kInfo);
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QApplication * app = new QApplication(argc, argv);
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DatabaseViewer * mainWindow = new DatabaseViewer();
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mainWindow->showNormal();
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if(argc == 2)
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{
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mainWindow->openDatabase(argv[1]);
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}
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// Now wait for application to finish
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app->connect( app, SIGNAL( lastWindowClosed() ),
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app, SLOT( quit() ) );
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app->exec();// MUST be called by the Main Thread
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delete mainWindow;
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delete app;
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return 0;
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}
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