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
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
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
a16899a829
MainWindow: Updated feedback message when sending a goal fails
2015-11-29 16:20:04 -05:00
matlabbe
2945abde9c
DatabaseViewer: fixed "Graph not created" error when clicking on export map/graph actions
2015-11-27 15:36:57 -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
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
ee81bfc1d7
Removed warning/error when odometry cloud is empty
2015-11-26 10:42:58 -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
da1129cf79
Refactoring of some parameters (LocalLoopDetection* to Proximity*) and variables in code
2015-11-25 12:15:41 -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
d1eec16222
Added GFTT+ORB detector type
2015-11-11 12:08:20 -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 https://github.com/OpenKinect/libfreenect2/commit/cdeb07917c3431abf530785c151c9656f1c26d3a )
2015-11-03 17:31:07 -05:00
matlabbe
620ce51f70
Fixed warnings on Windows
2015-11-03 12:49:03 -05:00
matlabbe
dc20327a18
GraphView: added Maximum link length option
2015-10-29 09:53:35 -04:00
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
f97dd2b05b
typo...
2015-10-27 15:56:46 -04:00
matlabbe
c884781741
DBViewer: added total time info
2015-10-27 13:39:29 -04:00
matlabbe
8fa7b73aea
DBViewer: fixed some missing links/poses. GraphViewer: fixed global path color context menu action, now small links are ignored
2015-10-26 17:52:02 -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
c15d9f3fe9
MainWindow/3d Rendering: Updated default Map max depth to 0.0 m
2015-10-21 09:27:25 -04:00
Mathieu Labbé
38b3e6c337
CloudViewer: fixed an iterator comparison error
2015-10-18 18:35:28 -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
b565226ee5
Fixed issue 34: Post-processing with intermediate nodes
2015-10-16 20:43:00 -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
eaff524e30
MainWindow: added updateCacheFromDatabase() method (for ROS rtabmapviz)
2015-10-16 17:43:31 -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
78164c9770
DbViewer: added ground angle and cluster size parameters for grid projection map
2015-10-14 17:11:30 -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
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
aa92486ff0
DatabaseViewer: fixed clouds still shown in constraints view when unchecked
2015-10-07 16:54:36 -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
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
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