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2,036 Commits 30 Branches 168 Tags
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Commit Graph
378 Commits
Author SHA1 Message Date
matlabbe f91efd245b fixed default camera driver when the config file doesn't exist yet 2015-04-25 17:30:15 -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
matlabbe 8ab867b802 Added RGB/IR calibration 2015-04-08 12:23:10 -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 71be7921aa fixed exported calibration name (stereo) 2015-04-06 15:54:19 -04:00
matlabbe 5b5a32839c Added close buttons to CameraViewer and OdometryViewer dialogs 2015-04-06 13:35:44 -04:00
Mathieu Labbe 04b35b2adf GUI: Added new Freenect2 and StereoDC1394 source options. 2015-04-06 00:28:04 -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
Mathieu Labbe ad6ee69ac6 Grid map: added "erode" option 2015-03-20 14:03:09 -04:00
Tobias Fischer b5e015ec8f Add QT5 Support 2015-03-16 22:54:19 +00:00
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
Mathieu Labbe ee7a5f591a GUI: updated Source menu check behavior, checking if "rtabmap.tmp.db" exists before deleting it (in case of another RTAB-Map is running in the same working directory) 2015-03-01 19:41:03 -05:00
Mathieu Labbé d86f8e8d02 minor fix 2015-02-28 19:54:48 -05:00
matlabbe cf69f17925 Added Source/Mirroring parameter for convenience 2015-02-28 18:09:22 -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 4439ca607f Fixed issue 4 2015-02-18 14:15:46 -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 645d2c4973 Saving ExportCloudsDialog and PostProcessing parameters to config file. 2015-01-14 11:02:17 -05:00
Mathieu Labbe fb0b23ae06 saving CloudViewer settings (Camera,Trajectory,Grid) in the config file 2015-01-13 18:11:34 -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
Mathieu Labbe cd3bd2948e fixed checked/unchecked actions of menu "Select Source..." 2015-01-12 16:53:18 -05:00
Mathieu Labbe db382d6149 removed milliseconds from saved file name, fixed reset all settings of childrend of a groupbox which is also a prameter 2015-01-07 17:51:15 -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
matlabbe a979216fc1 Added tiff as image type supported, fixed a crash on Mac OS X Maverick when showing the GraphView 2015-01-06 10:53:43 -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
matlabbe 374ef280f2 If OpenCV nonfree module is not found, RTAB-Map will still build but with disabled SURF/SIFT options. Default BOW dictionary will be ORB in this case. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2071 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-21 23:37:23 +00:00
matlabbe 3dfbde3b0d OpenNI2: added parameters to control autoWhiteBalance and autoExposure 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2056 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-20 22:00:47 +00:00
matlabbe faf43cc82c Odometry: added force2D option 
Changed parameter RGBD/ScanMatchingSize to RGBD/PoseScanMatching

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2050 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-19 23:38:15 +00:00
matlabbe 18596b9627 updated some default parameters mostly related to stereo odometry (flow, stereo, bayes prediction, likelihood tf-idf) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1995 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-13 22:28:59 +00:00
matlabbe cbb0185adf Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1967 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-04 18:58:40 +00:00
matlabbe a3b29eaf4f updated default source input rate to 30Hz 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1955 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-02 15:21:48 +00:00
matlabbe f12fc93639 Added option to show graphs in the 3D map view. (See "General Settings->3D rendering->Show Graphs" default true) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1943 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-30 19:38:58 +00:00
matlabbe 1597cfc293 GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1940 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-30 14:43:43 +00:00
matlabbe 9ffd103e69 Removed trailing separator from working directory. Replaced all slashes by QDir::separator(). 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1935 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 05:00:10 +00:00