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https://github.com/introlab/rtabmap.git
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matlabbe
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
+--------------------------------------------------- + Contents +--------------------------------------------------- - Requirements - Building from source - Building with Eclipse - Issues - Notes - Packaging - Source packaging - Uninstall +--------------------------------------------------- + Requirements +--------------------------------------------------- - CMake - OpenCV - UtiLite library (http://code.google.com/p/utilite/) - sqlite3 (only for Unix, the win32 binaries are already added to this project) - fftw-3 - MinGW (only for Windows) Optionals : - [Highly recommended!] Qt4 open source Unix or MinGW (for Windows) to build the GUI - cppunit (only for Unix, the win32 binaries are already added to this project) Note : For Windows users, don't forget to modify the PATH environnement variable. +--------------------------------------------------- + Building from source +--------------------------------------------------- [Unix] > cd build > cmake .. > make > sudo make install [Win32] > cd build > cmake -G "MinGW Makefiles" .. > mingw32-make > mingw32-make install Note : Output destination is in {project_root}/bin and {project_root}/lib of this project. +--------------------------------------------------- + Building with Eclipse with CDT (c/c++ plugin) +--------------------------------------------------- 1- Eclipse -> Import existing project -> select this directory 2- Eclipse -> Make targets -> Avpd -> execute CMake-Unix-Release (CMake-MinGW-Release on Windows) 3- Eclipse -> Project -> Build All - The AutoCompletion should already works... (Project->Properties->C/C++Build->Discovery options) +--------------------------------------------------- + Issues +--------------------------------------------------- - Webcam issue (Linux): > sudo addgroup UserName video reboot! or > sudo chmod 666 /dev/video0 - Video can't be initiated (*.avi) by OpenCV (Linux) : Make sure that OpenCV is builded with ffmpeg (ROS binary "turtleBox" openCV package doesn't build with it?!) +--------------------------------------------------- + Notes +--------------------------------------------------- Memory leaks check (Linux): >valgrind --tool=memcheck --leak-check=yes ./testCoreLib There are some memory errors with vfprintf() or write(), but the more important is at the end of the report in the summary "LEAK SUMMARY". +--------------------------------------------------- + Packaging +--------------------------------------------------- MacOSX (DragNDrop) : > cd build > cmake -DCMAKE_INSTALL_PREFIX="/" -DBUILD_AS_BUNDLE=ON .. > make -j4 > make package MacOSX (.tar.bz2) : > cd build > cmake -DBUILD_AS_BUNDLE=OFF .. > make -j4 > make package Ubuntu (.deb, .tar.bz2) : > cd build > cmake .. > make -j4 > make package Windows (nsis-exe, zip) : (Using Visual Studio Command Prompt to be able to use 'dumpbin') > cd build > cmake -G"MinGW Makefiles" .. > mingw32-make -j4 > mingw32-make package +--------------------------------------------------- + Source packaging +--------------------------------------------------- UNIX > make package_source WIN32 > mingw32-make package_source +--------------------------------------------------- + Uninstall +--------------------------------------------------- A target is provided when building from source : UNIX > make uninstall WIN32 > mingw32-make uninstall Other files : Configuration file : {Home_folder}/.rtabmap Working directory : {Home_folder}/Documents/RTAB-Map