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426 Commits

Author SHA1 Message Date
Mathieu Labbe
653248bde8 Added some asserts to chaeck inf variances 2015-04-02 11:32:58 -04:00
Mathieu Labbe
f847bb9f9f fixed TOROOptimizer::loadGraph(), added some assert to make usre that rotational and transitional variances are not null 2015-04-01 12:50:29 -04:00
Mathieu Labbe
6089a44589 Added PnP Pose estimation based Odometry option. Added sensor icons in menu. 2015-03-31 15:45:38 -04:00
Mathieu Labbe
d53f4d08ce Added some empty cloud verifications 2015-03-27 17:19:21 -04:00
Mathieu Labbe
19d6da9035 updated some events with user_data/stamp 2015-03-25 14:26:25 -04:00
Mathieu Labbe
186dc60a49 Version 0.8.8: added "user_data" field in database. Added WifiMapping example. Fixed FATAL error when initializing rtabmap with no database. 2015-03-25 13:31:12 -04:00
Mathieu Labbe
10eee94e98 Rtabmap: reset all parameters to default on close() 2015-03-20 15:16:08 -04:00
Mathieu Labbe
ad6ee69ac6 Grid map: added "erode" option 2015-03-20 14:03:09 -04:00
Mathieu Labbe
aa8fe2e55c Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d 2015-03-12 17:00:56 -04:00
Mathieu Labbe
d77b0dfb14 Updated version to 0.8.6: Added parameter Mem/TransferSortingByWeightId 2015-03-09 15:25:51 -04:00
Mathieu Labbe
0c55d30f76 Added Memory::getAllLabels(), added labels to statistics and added DBDriver::getNodeInfo() 2015-03-06 16:14:09 -05:00
Mathieu Labbe
8fd0f3761a DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter 2015-03-04 17:27:44 -05:00
Mathieu Labbe
f108c0753b updated default OdomBow/NNDR and LccReextract/NNDR to 0.8 2015-03-02 05:49:43 -05:00
matlabbe
cf69f17925 Added Source/Mirroring parameter for convenience 2015-02-28 18:09:22 -05:00
Mathieu Labbé
395dac5777 fixed windows compilation 2015-02-28 15:46:04 -05:00
Mathieu Labbe
7b08a56cb1 updated default layout 2015-02-27 16:00:13 -05:00
Mathieu Labbe
721de2e76b Database update (version 0.8.5): added Node.stamp and Node.label fields 
Added labeling mechanism of nodes (by default the first node of a map is tagged "map#")
 2015-02-27 15:24:15 -05:00
Mathieu Labbe
1d39db2bcc Removed parameter "LccIcp/HighTransitionalVariance" (Identity covariance is set directly on pose correction and local loop closure detection in space) 
Covariance of virtual links added on the path is set to Identity. For those added to keep the path linked to current map, their covariance is set to 100.
DatabaseViewer: set fixed colors on constraints view
 2015-02-25 17:06:52 -05:00
Mathieu Labbe
eb96fe1249 increased version to 0.8.4: Database Link's "variance" field split into "rot_variance" and "trans_variance". Added Parameter LccIcp/HighTransitionalVariance 2015-02-24 16:06:02 -05:00
Mathieu Labbe
b785353b5e Added a missing RTABMAP_EXP 2015-02-23 15:57:30 -05:00
Mathieu Labbe
38a4e8e4ee Updated how locations are retrieved on a planned path or near based on space if no path is activated. 
Added mirroring option to OpenNI2 camera
Removed "RGBD/MaxAnticipatedNodes" and "RGBD/GoalMaxDistance" parameters
Renamed "RGBD/LocalLoopDetectionRadius" to "RGBD/LocalRadius"
Added "RGBD/MaxLocalRetrieved" parameter
GUI: fixed OpenNI 2 selection from the MainWindow, added OpenNI2 under Kinect menu
 2015-02-20 15:32:39 -05:00
Mathieu Labbe
cead1e00d4 Added parameter RGBD/GoalMaxDistance, fixed graph:computePath() warnings 2015-02-18 16:57:16 -05:00
Mathieu Labbe
5a37393a45 Only update weight on rehearsal if the displacement is too high (using parameters RGBD/LinearUpdate and RGBD/AngularUpdate) 2015-02-17 18:51:37 -05:00
Mathieu Labbe
2f6426f029 Updated how retrieved locations on the planned path are linked to local map. 
Added new parameters: "RGBD/PlanWithNearNodesLinked" and "Mem/LocalSpaceLinksKeptInWM"
 2015-02-17 17:30:47 -05:00
Mathieu Labbe
24155cdb7c Local space selection: compare maxDiff with margins to current node instead of ids 2015-02-13 18:21:26 -05:00
Mathieu Labbe
ad05c5902a New parameter: Mem/ImageDecimation (save downscaled images in database), Updated default parameter RGBD/LocalLoopDetectionMaxDiffID to 50 2015-02-13 15:25:40 -05:00
Mathieu Labbe
7c65dbf6bb Improved occupancy grid map construction performance 2015-02-11 17:03:46 -05:00
Mathieu Labbe
e3074d304c Added rtabmap::computePath() using a pose goal instead of node Id. Graph methods moved in rtabmap::graph namespace 2015-02-06 13:52:02 -05:00
Mathieu Labbe
f8b625c7c7 Added DBDriver::setTimestampUpdateEnabled() 
Don't update timestamps if only links are modified
 2015-02-04 17:40:16 -05:00
Mathieu Labbe
ee885321aa Rtabmap: Added getPathNextPoses() and getPathNextNodes(). Local path is sent over statistics. 
GUI: local path is shown in GraphViewer. Now handling stereo odometry data.
 2015-02-03 11:09:10 -05:00
Mathieu Labbe
a2dde36093 Integration of the path planner into rtabmap's memory management to actually retrieve nodes on the planned path on the graph. 
Added Rtabmap::clearPath(), Rtabmap::computePath(), Rtabmap::getPathGoalId() and Rtabmap::updateGoalIndex() methods.
Added virtual links when path retrieval is activated (virtual links are not saved to database and removed when the path goal is reached).
New parameters: RGBD/GoalReachedRadius and RGBD/MaxAnticipatedNodes
Refactored how loop closure hypotheses are selected (fixed ratio between consecutive hypotheses, not the last loop closure).
Updated getNodesInRadius() to use all filtered scans.
GUI: window can be saved/loaded maximized
GUI: saving Graph View parameters to config.ini
 2015-01-30 15:30:57 -05:00
Mathieu Labbe
47045002a9 Added initial node to graph computed from A* 2015-01-26 17:20:43 -05:00
Mathieu Labbe
7a6bf630ca Moved some util3d methods to Transform.h, Graph.h and Compression.h 
Added computePath() method implementating A star on graph
GUI: SetWindowModified() and user should explicitly save the GUI config to keep them
Calibration: added mirror checkbox, added device id argument
 2015-01-23 11:17:42 -05:00
Mathieu Labbe
fdf7f69783 Added rtabmap-camera tool. Added Export button in Calibration dialog to 
save calibration to yaml file (same format as ROS).
 2015-01-19 16:14:49 -05:00
Mathieu Labbe
6bd2a0926b Split RawDataKept parameter into Raw and Binary parameters to save RAM when keeping raw data in the core is not required 2015-01-12 18:23:25 -05:00
Mathieu Labbe
21dc506f82 Moved definition of the static Transform::getIdentity() method in header file in order to fix issue 5 2015-01-09 13:42:02 -05:00
Mathieu Labbe
86a6fe202c rtabmap: 
-Fixed map id not incremented on Odometry reset (identity transform was missed)
-Keeping maximum odometry variance between two loop closure updates
Odometry:
-removed parameters Odom/FeaturesRatio, Odom/LinearUpdate, Odom/AngularUpdate
-added parameter Odom/FillInfoData
-expended OdometryInfo class with features stuff
Gui:
-show inliers/outliers features in Odometry view
 2014-12-18 16:54:46 -05:00
Mathieu Labbe
744e2fb3c7 Updated version to 0.8.0 
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)
 2014-12-14 16:42:10 -05:00
Mathieu Labbe
248b1bdf58 updated NNDR to 0.9 for reextraction too 2014-12-04 16:44:28 -05:00
Mathieu Labbe
4126687625 Updated NNDR default for binary descriptors to 0.9. Delete log files by default if database doesn't exist on rtabmap init. 2014-12-04 16:34:39 -05:00
Mathieu Labbe
821c1602bf MainWindow: don't save empty database. Odometry: return null pose when not initialized. 2014-12-03 22:27:31 -05:00
Mathieu Labbe
7f975c5a85 added some .gitignore 2014-11-25 17:08:42 -05:00
matlabbe
a067f1369e VWDictionary: Ignore kdtree strategy when RTAB-Map is not build with OpenCV nonfree module 
Updated parameter LccReextract/MaxWords=600

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2072 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-22 16:44:42 +00:00
matlabbe
374ef280f2 If OpenCV nonfree module is not found, RTAB-Map will still build but with disabled SURF/SIFT options. Default BOW dictionary will be ORB in this case. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2071 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-21 23:37:23 +00:00
matlabbe
3dfbde3b0d OpenNI2: added parameters to control autoWhiteBalance and autoExposure 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2056 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-20 22:00:47 +00:00
matlabbe
57dec696cf fixed not uncompressed depth2D when restarting rtabmap with a prebuilt map for icp constraints 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2053 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-20 16:20:21 +00:00
matlabbe
faf43cc82c Odometry: added force2D option 
Changed parameter RGBD/ScanMatchingSize to RGBD/PoseScanMatching

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2050 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-19 23:38:15 +00:00
matlabbe
18596b9627 updated some default parameters mostly related to stereo odometry (flow, stereo, bayes prediction, likelihood tf-idf) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1995 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-13 22:28:59 +00:00
matlabbe
af31410590 Updated EpipolarGeometry methods 
Experimental: added OdometryMono in epipolar geometry test

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1982 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-12 15:25:15 +00:00
matlabbe
f9e25c2fa6 util3d: added bool segmentFlatObstacles (default false) parameter to segmentObstaclesFromGround() method 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1980 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-11 21:34:14 +00:00