feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
@@ -0,0 +1,27 @@
+close all
+clear all
+
+% Test AvpdCore::KeypointMemory::updateCommonSignature()
+
+% load data
+memory = dlmread('090306-3_db-Signatures.txt', ' ', 1, 0);
+dictionary = dlmread('090306-3_db-Dictionary.txt', ' ', 1, 0);
+
+[virtualPlace dictionary] = updateCommonSignature(memory, dictionary);
+
+%just sorting words, putting the zeros at the end
+indexZero = find(virtualPlace == 0,1);
+if isempty(indexZero)
+    indexZero = length(virtualPlace);
+elseif indexZero>1
+    indexZero = indexZero-1;
+end
+virtualPlace(2:indexZero) = sort(virtualPlace(2:indexZero));
+commonWords = virtualPlace(2:indexZero)
+disp('Total common words:')
+disp(length(commonWords))
+
+r = sum(sum((commonWords - [5,8,9,21,22,23,27,30,32,34,36,40,45,53,61,62,64,67,68,77,85,86,97,98,99,100,103,106,122,124,125,127,129,131,143,157,161,164,168,169,172,175,181,182,187,196,197,208,210,217,218,219,220,234,235,237,244,252,286,307,308,310,315,327,328,346,347,350,355,362,372,373,387,393,394,398,404,412,423,428,429,441,442,456,465,470,476,495,496,498,506,520,558,572,584,585,587,596,620,634,637,643,646,647,658,667,668,681,709,721,726,741,766,777,785,790,791,793,808,809,880,896,906,908,919,933,940,954,958,974,981,1002,1023,1026,1058,1060,1071,1074,1097,1146,1152,1166,1215,1217,1229,1334,1341,1387,1478,1510,1539,1549,1566,1601,1624,1649,1693,1814,2046,2141,2424,2442,2674;]) ~= 0)); 
+if r ~= 0
+    error('commonWords is not valid!')
+end