mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 10:00:23 +08:00
9c1e117384
* Sparse Bayes * updated perf test * improved tests with real data * Making sparse works in incremental mapping * bookkeeping optimization * small opt * refactoring * splitting dense and sparse in different classes to make the code more lisible * cleanup comments * fixing CI * Making all Bayes tests testing both dense and sparse * Added multisession_3it integration test (test memory management, multisession and dense/sparse bayes in that settings) * optimized sparse when transfer/retrieval happens (was slower than dense for that case) * Testing retrieval param variants * Updated multisession_3it integration tests to compare loop closure hypotheses * bump version * Fixed ui sum of prediction * adding g2o gtsam to linux ci * cleanup * added debug crash log for ci * Simplified Bayes/SparsePrediction description * Dont show too dense for sparse on small maps (e.g., when we just started a new map) * fixing amd64v3 issue with gtsam on ci ubuntu 26 * Dot not auto switch to dense based on map size. * updating test range * added coverage tests * Adressing coverage * ignore one line in coverage for purpose
20 lines
932 B
Bash
20 lines
932 B
Bash
# Puts the graph optimizers taken from the ROS 2 repo (see cmake-linux.yml) on
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# the loader path, for a shell that is about to run something built against
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# them. Sourced, not executed: it exports into the caller.
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#
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# source .github/scripts/ros-deps-env.sh /opt/ros/humble
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#
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# A missing or empty prefix is a build that took every dependency from the
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# Ubuntu archive: nothing to add.
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#
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# Both directories are needed. GTSAM and g2o install their libraries in the
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# multiarch subdirectory, while the prefix's own lib/ holds the rest, and
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# libgtsam.so carries no RUNPATH -- so the loader finds neither it nor the
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# libmetis-gtsam.so it pulls in without being told where to look.
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ros_prefix="${1:-}"
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if [ -n "$ros_prefix" ] && [ -d "$ros_prefix" ]; then
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ros_lib="$ros_prefix/lib"
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export LD_LIBRARY_PATH="${ros_lib}:${ros_lib}/$(gcc -dumpmachine)${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}"
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echo "LD_LIBRARY_PATH=$LD_LIBRARY_PATH"
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fi
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