mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 10:00:23 +08:00
1ea8fa2e06
* New rtabmap-reduceGraph CLI tool * fixed some edge cases * Regenerating optimized map if there was one before reducing the graph * addMoreLoopClosures: refactored how ctrl-c is handled to stop faster when no loop closures are added * Added kilted status * Make offline tool always propagate neighbor merged links * removed a parameter * fixed disconnected graph * fixed --help * Added error log on Kp/NNStrategy not compatible with huge vocabulary. ReduceGraph/DetectMoreLoopClosures: Make sure original parameters are saved back on closing. g2o: fixing optimizer to Levenberg for SBA to avoid [SetJac] infinite jac fatal error. * exposing neighbor merged ratio parameter to the tool * show param in log * refactored detectMoreLoopClosures to ignore too close nodes in terms of neighbor links based on Mem/STMSize parameter. Reduce graph: added direction parameter. * Simplified: removed ratio parameter, removed recursive reduction. Just don't reduce if a NM link is longer than maxDistance. * Removed NNStrategy override, as it was still done on closing when we changed back to original params * DBViewer: show missing links when showing OptimizedPoses in GraphView, fixed clicking on landmark links * DetectMoreLoopClosures: Added support for min graph distance option in MainWindow and DbViewer * slight renaming of ROS jobs * reprocess: added option --params_last
14 lines
346 B
CMake
14 lines
346 B
CMake
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ADD_EXECUTABLE(reduceGraph main.cpp)
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TARGET_LINK_LIBRARIES(reduceGraph rtabmap_core)
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SET_TARGET_PROPERTIES( reduceGraph
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PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-reduceGraph)
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INSTALL(TARGETS reduceGraph
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RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
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BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
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