i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity
1,221 Commits 29 Branches 163 Tags
0848b03127258386756a42abc158a9211d97dc00
Commit Graph

766 Commits

Author SHA1 Message Date
matlabbe
148504dabd Fixed Memory::computeScanMatchingTransform() (now named computeIcpTransformMulti()) 2015-11-26 16:03:03 -05:00
matlabbe
991a603648 Added util3d::laserScan2dFromPointCloud() 2015-11-26 14:34:06 -05:00
matlabbe
ba6733411a merged master to velodyne 2015-11-26 13:37:37 -05:00
matlabbe
7d521819f0 moved Rtabmap::[read,write]Parameters() and getVersion() to Parameters class (readINI(), writeINI() and getVersion()). Added Parameters::getDefaultOdometryParameters() and Parameters::isFeatureParameter() for convenience. 2015-11-26 13:16:01 -05:00
matlabbe
63c96f39a3 Added GridAdaptor for FAST feature (issue #43). Fixed RegistrationVis feature parameters not set. Added FAST_ORB feature type. 2015-11-25 19:56:14 -05:00
matlabbe
cd39a8c027 0.10.12: Added rtabmap::getLastLocalizationPose() method (to get last corrected pose either in mapping or localization mode) 2015-11-25 15:45:27 -05:00
matlabbe
da1129cf79 Refactoring of some parameters (LocalLoopDetection* to Proximity*) and variables in code 2015-11-25 12:15:41 -05:00
matlabbe
56383d4cfb Merged master to velodyne 2015-11-22 18:15:33 -05:00
matlabbe
ae9f21acd7 Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used 2015-11-22 18:08:32 -05:00
matlabbe
10d683a38e Graph optimization: fixed stop error criterion for g2o and gtsam, previous optimized poses are now used as guess for the optimized graph 2015-11-18 19:40:46 -05:00
matlabbe
1e5bcfded8 GFTT: updated MinDistance=10 default 2015-11-12 11:17:26 -05:00
matlabbe
d1eec16222 Added GFTT+ORB detector type 2015-11-11 12:08:20 -05:00
matlabbe
0dedc62ce8 Disabled local loop detection on intermediate nodes 2015-11-09 11:46:30 -05:00
matlabbe
798eb2330b Updated default badSignThr parameter 2015-11-06 14:46:35 -05:00
matlabbe
e8bea5cba3 Fixed sqlite3 warnings 2015-11-06 14:10:45 -05:00
matlabbe
58190d5422 Added more Freenect2 options 2015-11-04 18:31:52 -05:00
matlabbe
2ee9183c17 Updated CameraFreenect2 with latest freenect2 library (commit cdeb07917c) 2015-11-03 17:31:07 -05:00
matlabbe
620ce51f70 Fixed warnings on Windows 2015-11-03 12:49:03 -05:00
matlabbe
47d98b2912 GUI: GFTT quality min is now 0.0001, fixed fatal error when LocalLoopDetectionSpace=True and not RGB-D SLAM mode 2015-10-28 18:48:17 -04:00
matlabbe
f561a59a09 DBDriver: added ignoreBadSignatures param to getAllNodeIds() 2015-10-28 16:50:18 -04:00
matlabbe
02ebb3c7e8 Some fixes: 
-Memory: Fixed wrongly rejected scan matching transform because of too large correction
-DBViewer: Fixed not shown proximity scans
-DBDriver: Fixed not loaded links' user_data on getAllLinks() method
-MainWindow: Added planning statistics
-DBReader: set a maximum of 10 sec sleep if the map ID has changed
 2015-10-26 12:59:20 -04:00
matlabbe
463a5d973c Update version 0.10.11: 
-Added parameter "Mem/ReduceGraph" with new link type (NeighborMerged)
-DatabaseViewer: add Info panel, fixed empty extracted database when "RGB images" is not checked
-ConsoleWidget: added buffer size and refresh rate options
-DBDriver: new database info getters
-Graph: added reduceGraph() method, added Dijsktra computePath() with links only
-Updated default parameters: RGBD/LocalLoopDetectionSpace=true, RGBD/LinearUpdate=0.1 and RGBD/AngularUpdate=0.1
-Goals are saved with label instead of ID if the target node has a label
-DataRecorder: fixed saving incrementally the database (instead of only at the end)
-MainWindow: When waypoints are used, resend the current goal (1 sec delay) if it has failed setting it
 2015-10-24 17:03:44 -04:00
matlabbe
957498b5a3 💄 2015-10-21 10:33:35 -04:00
Mathieu Labbé
2953217c2c fixed windows build errors 2015-10-17 16:36:34 -04:00
matlabbe
303e64e8d8 Updated default Graph Optimization parameters (iteration+epsilon). Added "Variance from Inliers" parameter to DatabaseViewer 2015-10-17 14:00:27 -04:00
matlabbe
1f33c39f3c Updated for issue #36: Moved "Export Poses..." to File menu, added "Export images..." action too, updated when some export actions are enabled or disabled 2015-10-16 20:11:24 -04:00
matlabbe
5934ec90db DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases 2015-10-16 14:54:47 -04:00
matlabbe
835155e6ae CameraOpenNI2: Added OpenNI2 stamps/Ids option 2015-10-15 16:40:49 -04:00
matlabbe
a8b5311d88 Fixed crash when adding new words to incremental FLANN (after some were removed from the dictionnary and deleted when transferring to database) 2015-10-15 14:08:30 -04:00
matlabbe
b8382fe5bd Added/Removed some debug info 2015-10-14 14:40:18 -04:00
matlabbe
c18b3842b9 debug info... 2015-10-14 13:34:25 -04:00
matlabbe
2f5d41fb3c Added Debug log in FLANN kd-trees index 2015-10-14 13:26:28 -04:00
matlabbe
457e1e9d21 Added Debug log in incremental FLANN stuff (to track a crashing bug) 2015-10-14 11:03:43 -04:00
matlabbe
9bd649009c Improved DatabaseViewer memory usage (by not keeping uncompressed data in cache) 2015-10-14 11:02:36 -04:00
matlabbe
a8d83c895c increased graph::getConnectedGraph() performance 2015-10-14 10:03:36 -04:00
matlabbe
5f488ed269 Added Memory/Distance_travelled/m to Statistics 2015-10-13 16:57:02 -04:00
matlabbe
88a3f425c1 Added RGBD/ScanMatchingIdsSavedInLinks parameter 2015-10-13 16:06:19 -04:00
matlabbe
988e83cf1c Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label. 2015-10-13 12:50:25 -04:00
matlabbe
aaf0eba7ba OdometryBOW: desactivated Memory depth16 conversion 2015-10-09 11:15:38 -04:00
matlabbe
afaf6509f7 DBReader: copy stamps in odom messages 2015-10-07 19:38:33 -04:00
matlabbe
b8757f6e8b Don't optimize the graph on localization (just update last pose) if there are no retrieved signatures and the loop closure is on a node already in the optimized graph 2015-10-07 11:38:31 -04:00
matlabbe
fbf967066a Added LccBow/VarianceFromInliersCount parameter (linked with Odom/VarianceFromInliersCount in standalone gui) 2015-10-02 10:40:18 -04:00
matlabbe
ee76a02117 Using solvePnPRansac() of OpenCV2.4 in OpenCV3 (for some reasons RANSAC is better in OpenCV2.4, tested on Mac OS X). Updated default 3D->3D estimation parameters 2015-10-01 21:00:16 -04:00
matlabbe
0c8309bb28 Memory: Fixed all recent memory immunized when lastGlobalLoopClosure is 0. Notify plan failed (instead of success) when the target node id is not found. 2015-09-30 11:36:49 -04:00
matlabbe
e193aed720 Merge branch 'master' of github.com:introlab/rtabmap 2015-09-29 23:48:21 -04:00
matlabbe
fccaa11de1 Localization mode: fixed errors when planning, fixed localization from last node, fixed localization flickers when memory management is running 2015-09-29 23:48:05 -04:00
matlabbe
bf0790f3b9 Added Odom/VarianceFromInliersCount parameter (default false) 2015-09-28 21:45:41 -04:00
matlabbe
3fa6124ad0 Improved performance of create2DMap() and fixed unknown space filled rotation when laser scans are inverted. Added fill unknown space option to DatabaseViewer. 2015-09-28 15:30:01 -04:00
matlabbe
7ea730bb0a planning: fixed a bug making the last pose published again even after stuck detected 2015-09-27 12:01:02 -04:00
matlabbe
88e67f047a Version 0.10.9: added RGBD/PlanStuckIterations parameter (default 0) to detect when a node in the planned path is unreachable 2015-09-23 18:15:34 -04:00