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08a3a001f5cc83b84ab46504f62f28681b49faae
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147 Commits

Author SHA1 Message Date
matlabbe
08a3a001f5 Fixed a crash when closing the DatabaseViewer dialog on Mac OS X. Added "Close" button when it is in modal window mode for Mac OS X too 2015-04-28 13:04:35 -04:00
Mathieu Labbe
a4f11b7a3b Updated default RGBD/LocalLoopDetectionPathFilteringRadius to 0.25 2015-04-27 18:16:04 -04:00
Mathieu Labbe
242c3e5f1b Merge branch 'master' of github.com:introlab/rtabmap 2015-04-27 02:43:13 -04:00
Mathieu Labbe
db90da7303 Updated how local scan matching is done (doing it on segmented local paths) 2015-04-27 02:43:06 -04:00
matlabbe
3e20d1ca7c DatabaseViewer: fixed switched words after adding new loop closures 2015-04-25 18:13:31 -04:00
Mathieu Labbé
2e706ed01f fixed windows build 2015-04-24 13:56:16 -04:00
Mathieu Labbe
fa3a2421f6 Added Monocular SLAM (experimental), Odometry classes refactoring 2015-04-23 22:01:41 -04:00
Mathieu Labbe
5700c14bcb DatabaseViewer: added exporting of a specific session with or without user_data. MainWindow: added action to send goal to rtabmap. Rtabmap: Saving goals in user_data of the current signature, modified parameter Mem/RehearsedNodesKept to Mem/NotLinkedNodesKept. DBReader: added sending goals when detected while playing back a database. 2015-04-17 18:30:12 -04:00
Mathieu Labbe
b48bd7cf70 Added session selection id in ExportDialog 2015-04-16 13:44:54 -04:00
matlabbe
8ab867b802 Added RGB/IR calibration 2015-04-08 12:23:10 -04:00
matlabbe
e965275fe6 Stereo Calibration: doing separate calibrations before stereo calibration 2015-04-07 23:42:38 -04:00
Mathieu Labbé
3ed6a1b2f0 Version 0.8.9: added FlyCapture2 driver for bumblebee2 (tested only on Windows) 2015-04-07 12:00:10 -04:00
matlabbe
5b5a32839c Added close buttons to CameraViewer and OdometryViewer dialogs 2015-04-06 13:35:44 -04:00
Mathieu Labbe
19f59a8c60 Added link to a sample chessboard in CalibrationDialog 2015-04-06 00:53:22 -04:00
Mathieu Labbe
04b35b2adf GUI: Added new Freenect2 and StereoDC1394 source options. 2015-04-06 00:28:04 -04:00
Mathieu Labbe
fee32c4e25 Added stereo option for the CalibrationDialog class 2015-04-05 16:42:41 -04:00
Mathieu Labbe
2b5ae3f9a8 DatabaseViewer: added "Ignore pose correction" option 2015-04-01 14:34:43 -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
matlabbe
56e372f8d2 Updated ImageView with GraphicsView mode disabled by default. Updated DataRecorder. 2015-03-30 10:47:38 -04:00
matlabbe
ae239bcfbc Updated menu/toolbar layout 2015-03-28 21:43:53 -04:00
Mathieu Labbe
ad6ee69ac6 Grid map: added "erode" option 2015-03-20 14:03:09 -04:00
Mathieu Labbe
b1827aeb89 DatabaseViewer: added graph depth param. Rtabmap: when the robot is not moving, now deleting location "after" retrieval 2015-03-16 18:22:54 -04:00
Mathieu Labbe
07c6090dce AboutDialog: Showing if RTAB-Map is built with Freenect/OpenNI2/g2o 2015-03-16 15:12:17 -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
8fd0f3761a DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter 2015-03-04 17:27:44 -05:00
matlabbe
cf69f17925 Added Source/Mirroring parameter for convenience 2015-02-28 18:09:22 -05:00
Mathieu Labbe
8625ebaf5c DatabaseViewer: we can optimize graph from any node in database, so we can show different maps if they are not connected 2015-02-27 16:55:47 -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
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
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
2f4acb9581 GUI: Core parameters should be explicitly saved 2015-02-13 16:50:32 -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
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
f9fb6216d8 GUI: Optimized odometry display 
GUI: moved alpha parameter into ImageView object
 2015-01-23 15:16:05 -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
e7ae2c5e31 Added "Restaure defaults" buttons to ExportClouds and PostProcessing dialogs 2015-01-14 15:09:16 -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
matlabbe
7f7d05e243 The graph is also sent in appearance-only mode. Added posterior hypotheses color on the graph view. Some minor fixes. 2015-01-07 17:30:20 -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
821c1602bf MainWindow: don't save empty database. Odometry: return null pose when not initialized. 2014-12-03 22:27:31 -05:00
Mathieu Labbe
9e1d38fe09 added Odometry view to MainWindow, increased version to 0.7.3 2014-12-02 17:01:24 -05:00