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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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utilite/include/rtabmap/utilite/UMath.h
+16 -16
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@@ -460,15 +460,15 @@ inline T uMeanSquaredError(const std::vector<T> & x, const std::vector<T> & y)
}
/**
* Compute the standard deviation of an array.
* Compute the variance of an array.
* @param v the array
* @param size the size of the array
* @param meanV the mean of the array
* @return the std dev
* @return the variance
* @see mean()
*/
template<class T>
inline T uStdDev(const T * v, unsigned int size, T meanV)
inline T uVariance(const T * v, unsigned int size, T meanV)
{
T buf = 0;
if(v && size>1)
@@ -478,20 +478,20 @@ inline T uStdDev(const T * v, unsigned int size, T meanV)
{
sum += (v[i]-meanV)*(v[i]-meanV);
}
buf = sqrt(sum/(size-1));
buf = sum/(size-1);
}
return buf;
}
/**
* Get the standard deviation of a list. Provided for convenience.
* Get the variance of a list. Provided for convenience.
* @param list the list
* @param m the mean of the list
* @return the std dev
* @return the variance
* @see mean()
*/
template<class T>
inline T uStdDev(const std::list<T> & list, const T & m)
inline T uVariance(const std::list<T> & list, const T & m)
{
T buf = 0;
if(list.size()>1)
@@ -501,35 +501,35 @@ inline T uStdDev(const std::list<T> & list, const T & m)
{
sum += (*i-m)*(*i-m);
}
buf = sqrt(sum/(list.size()-1));
buf = sum/(list.size()-1);
}
return buf;
}
/**
* Compute the standard deviation of an array.
* Compute the variance of an array.
* @param v the array
* @param size the size of the array
* @return the std dev
* @return the variance
*/
template<class T>
inline T uStdDev(const T * v, unsigned int size)
inline T uVariance(const T * v, unsigned int size)
{
T m = uMean(v, size);
return uStdDev(v, size, m);
return uVariance(v, size, m);
}
/**
* Get the standard deviation of a vector. Provided for convenience.
* Get the variance of a vector. Provided for convenience.
* @param v the vector
* @param m the mean of the vector
* @return the std dev
* @return the variance
* @see mean()
*/
template<class T>
inline T uStdDev(const std::vector<T> & v, const T & m)
inline T uVariance(const std::vector<T> & v, const T & m)
{
return uStdDev(v.data(), v.size(), m);
return uVariance(v.data(), v.size(), m);
}
/**