mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +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
41 lines
1.1 KiB
CMake
41 lines
1.1 KiB
CMake
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ADD_SUBDIRECTORY( ConsoleApp )
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ADD_SUBDIRECTORY( ImagesJoiner )
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ADD_SUBDIRECTORY( ExtractObject )
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ADD_SUBDIRECTORY( Camera )
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ADD_SUBDIRECTORY( StereoEval )
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ADD_SUBDIRECTORY( KittiDataset )
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ADD_SUBDIRECTORY( RgbdDataset )
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ADD_SUBDIRECTORY( EurocDataset )
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ADD_SUBDIRECTORY( CidSimsDataset )
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ADD_SUBDIRECTORY( Recovery )
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ADD_SUBDIRECTORY( Reprocess )
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ADD_SUBDIRECTORY( DetectMoreLoopClosures )
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ADD_SUBDIRECTORY( Export )
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ADD_SUBDIRECTORY( Report )
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ADD_SUBDIRECTORY( Info )
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ADD_SUBDIRECTORY( CleanupLocalGrids )
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ADD_SUBDIRECTORY( GlobalBundleAdjustment )
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ADD_SUBDIRECTORY( ReduceGraph )
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IF(OPENCV_NONFREE_FOUND)
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ADD_SUBDIRECTORY( VocabularyComparison )
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ENDIF(OPENCV_NONFREE_FOUND)
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IF(TARGET rtabmap_gui)
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ADD_SUBDIRECTORY( CameraRGBD )
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IF(PCL_VERSION VERSION_GREATER_EQUAL "1.8")
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ADD_SUBDIRECTORY( LidarViewer )
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ENDIF()
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ADD_SUBDIRECTORY( DatabaseViewer )
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ADD_SUBDIRECTORY( EpipolarGeometry )
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ADD_SUBDIRECTORY( OdometryViewer )
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ADD_SUBDIRECTORY( DataRecorder )
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ADD_SUBDIRECTORY( Calibration )
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ADD_SUBDIRECTORY( Matcher )
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ELSE()
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MESSAGE(STATUS "RTAB-Map GUI lib is not built, some tools won't be built...")
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ENDIF()
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