matlabbe
3292fb1146
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
...
Added graph::importPoses().
Can now have a ground truth published with SensorData (filled optionally by CameraImages classes).
Increased database closing time performance when the database is not saved.
Added ParametersToolBox widget in DatabaseViewer for core parameters (refactoring done to make easy access to all rtabmap parameters in DatabaseViewer).
Added Parameters::getType(key).
Added Transform::interpolate() to interpolate between two transforms (SLERP)
Updated pf_filter.m and added test_pf_filter.m MATLAB scripts (making easier to compare with a ground truth)
UPlot: can now save all curve data of a figure in one action (see right-click on legend area->"Copy all curve data to clipboard")
2015-12-17 14:13:19 -05:00
matlabbe
f5c062448d
Odometry: Added Kalman Filtering option
2015-12-14 16:50:17 -05:00
matlabbe
82d76f3e99
Merge branch 'master' of https://github.com/introlab/rtabmap into 0.11.0
2015-12-11 17:44:36 -05:00
matlabbe
9cc94ce1e6
Added Stereo and StereoDense base classes (with Stereo->StereoOpticalFlow and StereoDense->StereoBM) to handle easily stereo parameters. Added stereoEval tool to test Stereo/OpticalFlow=false or true. Added StereoBM parameters. Refactoring of the Preferences dialog (tree view order and some titles)
2015-12-11 17:44:15 -05:00
matlabbe
21bd206af7
Cleanup the code and updated error message about device not found (when rtabmap is linked to wrong libusb library)
2015-12-08 14:28:26 -05:00
matlabbe
676cd8cbd9
Enabled Source menu on Idle. Fixed calibration file with only the name not found. DBViewer: added max stereo features parameter under Stereo tab.
2015-12-02 11:48:07 -05:00
matlabbe
fc47d07b85
merged master to 0.11.0
2015-11-30 19:39:05 -05:00
matlabbe
e58f907440
Added CameraInfo class (added Camera tab in Statistics panel). Scans/userData are not saved anymore when Mem/BinDataKept=false. StereoACameraImages: Fixed error when scan path is not set. Refactoring of OdometryOpticalFlow class to provide variance when 3D->2D estimation is used.
2015-11-30 18:49:28 -05:00
matlabbe
69a04121a3
Added Mem/MapLabelsAdded parameter (default true)
2015-11-27 14:57:29 -05:00
matlabbe
7d35906398
Refactoring: Split all graph optimization approaches in multiple files
2015-11-27 11:09:39 -05:00
matlabbe
93326ab1fe
Refactoring: changed Statistics name "OdometryCorrection" to "NeighborLinkRefining"
2015-11-26 16:22:46 -05:00
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
798eb2330b
Updated default badSignThr parameter
2015-11-06 14:46:35 -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
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
9bd649009c
Improved DatabaseViewer memory usage (by not keeping uncompressed data in cache)
2015-10-14 11:02:36 -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
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
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
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
matlabbe
c60a808c75
GUI: The global path is transformed in the current referential as the robot moves. Moved Goal actions in Detection menu.
2015-09-21 18:12:55 -04:00
matlabbe
b6d2c6163e
Increased version 0.10.8: modified RtabmapGlobalPathEvent interface with label
2015-09-21 16:35:36 -04:00
matlabbe
55834644cf
Increased database version to 0.10.7: added scan_max_range column. Create2DMap: updated unknown cells filling depending on max laser scan range. Added util3d::frustumFiltering() to filter points in a specified frustum.
2015-09-17 22:55:45 -04:00
matlabbe
b8043665fe
ICP correspondences ratio increased by default to 0.3 (for ICP 2D) and 0.2 ( for ICP 3D)
2015-09-16 14:37:42 -04:00
matlabbe
53fa85e38a
fixed reset UPlot on rehearsal after small movement detected. GUI: modified color for pose correction (DarkCyan) and small movement (Gray)
2015-09-14 11:31:26 -04:00
