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1588b0b25c9762560940d5d17b3acee4548eb97c
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Author SHA1 Message Date
Mathieu Labbe
1588b0b25c refactored DBDriver (fixed the TODOs) 2015-02-27 19:33:32 -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
f514cfa5fe reversed wheel zoom direction in GraphView 2015-02-23 18:20:31 -05:00
Mathieu Labbe
58f557309e increased map marging to 10*cellSize to make sure all poses are in the map 2015-02-23 16:09:02 -05:00
Mathieu Labbe
b785353b5e Added a missing RTABMAP_EXP 2015-02-23 15:57:30 -05:00
Mathieu Labbe
529248a227 fixed GraphView scene size to include the grid map too 2015-02-23 15:48:25 -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
647c709595 GUI: Disabling Post-Processing on Detecting and Monitoring states 2015-02-18 18:48:48 -05:00
Mathieu Labbe
6c6bc3635a GUI: updated messages when a new database should be saved on close (a cancel will not make the database closing, only Discard) 2015-02-18 18:22:59 -05:00
Mathieu Labbe
cead1e00d4 Added parameter RGBD/GoalMaxDistance, fixed graph:computePath() warnings 2015-02-18 16:57:16 -05:00
Mathieu Labbe
9dfbe8d233 minor fix 2015-02-18 14:17:53 -05:00
Mathieu Labbe
4439ca607f Fixed issue 4 2015-02-18 14:15:46 -05:00
Mathieu Labbe
240b5ce9c6 GUI: Updated database file name message when closing a database 2015-02-18 13:52:49 -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
f708e7c040 GUI: GraphView's referential updated with odometry events 2015-02-17 17:53:44 -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
4279625d03 set PreferencesDialog::getTmpIniFilePath() virtual for ROS overriding 2015-02-16 17:14:08 -05:00
Mathieu Labbe
c8028c91ac minor refactoring 2015-02-16 16:13:44 -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
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 Labbé
530fd5d2c1 increased version to 0.8.3 0.8.3 2015-02-08 18:00:18 -05:00
Mathieu Labbé
571172754a Windows: fixed crash on startup with CloudViewer/PCLVisualization/QVTKWidget initialization 2015-02-08 17:55:40 -05:00
Mathieu Labbe
cff869ad03 accepting plan of only 1 node 2015-02-06 16:44:38 -05:00
Mathieu Labbe
695b7005d0 minor fix 2015-02-06 16:01:49 -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
3d1eccbce1 changed all std::atof() to uStr2Float() to fix locale comma float conversion problem 2015-02-04 21:20:17 -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
09625b766e added some debug infos 2015-02-03 17:20:17 -05:00
Mathieu Labbe
b2e5b7fbfc check if same node before adding virtual link 2015-02-03 14:11:57 -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
ee0051a585 fixed Time threshold not set on Console loop closure detection app 2015-01-30 18:32:35 -05:00
Mathieu Labbe
9d20403930 Simplified rtabmap-imagesJoiner tools 2015-01-30 18:07:28 -05:00
Mathieu Labbe
1fe2a9ed95 refactored GraphViewer 2015-01-30 17:27:34 -05:00
Mathieu Labbe
2872387d4c fixed GraphView blue referential color 2015-01-30 17:19:51 -05:00
Mathieu Labbe
d97ae60e6c CloudViewer: using QWidget::update() call instead of render directly the window 2015-01-30 17:02:02 -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
45a5da9f16 Fixed ./rtabmap-rgbd_mapping fatal error : "[FATAL] (2015-01-30 11:29:02.636) util3d.cpp:632::cloudFromDepthRGB() Condition (!imageDepth.empty() && (imageDepth.type() == CV_16UC1 || imageDepth.type() == CV_32FC1)) not met!" 2015-01-30 11:41:46 -05:00
Mathieu Labbe
2cc34cbe7e fixed a not retrieved signatures bug 2015-01-27 16:57:07 -05:00
Mathieu Labbe
47045002a9 Added initial node to graph computed from A* 2015-01-26 17:20:43 -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
199d9a948a Minor text change... 2015-01-14 12:11:49 -05:00