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Updated version to 0.8.0

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Libraries are installed in lib directly with symbolic links, not in lib/rtabmap-0.8. Removed the need of RPATH in cmake.
Saving variance of each link in database (new field Link.variance). The variance is used to generate the constraint information matrices for TORO optimization.
ICP: computing variance instead of fitness.
ICP3: added correspondences ratio parameter
Added OdometryInfo class
Refactoring: renamed depth2d stuff to laserScan. rtabmap::Memory and rtabmap::Signature classes (no more distinct neighbor, loop closure or child loop closure links, only links with different types)
This commit is contained in:
Mathieu Labbe
2014-12-14 16:42:10 -05:00
parent 6acf374063
commit 744e2fb3c7
42 changed files with 1764 additions and 1460 deletions
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corelib/src/SensorData.cpp
+16 -9
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@@ -42,7 +42,8 @@ SensorData::SensorData() :
_fyOrBaseline(0.0f),
_cx(0.0f),
_cy(0.0f),
_localTransform(Transform::getIdentity())
_localTransform(Transform::getIdentity()),
_poseVariance(1.0f)
{
}
@@ -54,7 +55,8 @@ SensorData::SensorData(const cv::Mat & image,
_fyOrBaseline(0.0f),
_cx(0.0f),
_cy(0.0f),
_localTransform(Transform::getIdentity())
_localTransform(Transform::getIdentity()),
_poseVariance(1.0f)
{
UASSERT(image.type() == CV_8UC1 || // Mono
image.type() == CV_8UC3); // RGB
@@ -67,8 +69,9 @@ SensorData::SensorData(const cv::Mat & image,
float fyOrBaseline,
float cx,
float cy,
const Transform & pose,
const Transform & localTransform,
const Transform & pose,
float poseVariance,
int id) :
_image(image),
_id(id),
@@ -78,7 +81,8 @@ SensorData::SensorData(const cv::Mat & image,
_cx(cx),
_cy(cy),
_pose(pose),
_localTransform(localTransform)
_localTransform(localTransform),
_poseVariance(poseVariance)
{
UASSERT(image.type() == CV_8UC1 || // Mono
image.type() == CV_8UC3); // RGB
@@ -90,27 +94,30 @@ SensorData::SensorData(const cv::Mat & image,
}
// Metric constructor + 2d depth
SensorData::SensorData(const cv::Mat & image,
SensorData::SensorData(const cv::Mat & laserScan,
const cv::Mat & image,
const cv::Mat & depthOrRightImage,
const cv::Mat & depth2d,
float fx,
float fyOrBaseline,
float cx,
float cy,
const Transform & pose,
const Transform & localTransform,
const Transform & pose,
float poseVariance,
int id) :
_image(image),
_id(id),
_depthOrRightImage(depthOrRightImage),
_depth2d(depth2d),
_laserScan(laserScan),
_fx(fx),
_fyOrBaseline(fyOrBaseline),
_cx(cx),
_cy(cy),
_pose(pose),
_localTransform(localTransform)
_localTransform(localTransform),
_poseVariance(poseVariance)
{
UASSERT(_laserScan.empty() || _laserScan.type() == CV_32FC2);
UASSERT(image.type() == CV_8UC1 || // Mono
image.type() == CV_8UC3); // RGB
UASSERT(depthOrRightImage.type() == CV_32FC1 || // Depth in meter