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Author SHA1 Message Date
Mathieu Labbe 49883a67e7 fixed a graph optimization startup crash when a database is already created 2015-03-16 15:38:57 -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 e80958240d DatabaseViewer: disabling SIFT/SURF/g2o when not available 2015-03-16 15:02:31 -04:00
Mathieu Labbe b9628b0447 Fixed some unused variable warnings in toro3d files 2015-03-12 17:17:20 -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 05d4276ba0 updated dependency on "libfreenect" (ROS) instead of "libfreenect-dev" in package.xml 2015-03-10 11:18:53 -04:00
Mathieu Labbe db53cec63a Fixed a bug on Bayes prediction generation (duplicated margins) 2015-03-09 18:57:29 -04:00
matlabbe 0a7326bf97 fixed deleting log files when a new database is created 2015-03-09 16:03:46 -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 49fcf732af removing query from poses returned from Graph::getNodesInRadius() 2015-03-09 11:58:06 -04:00
Mathieu Labbe 0c55d30f76 Added Memory::getAllLabels(), added labels to statistics and added DBDriver::getNodeInfo() 2015-03-06 16:14:09 -05:00
Mathieu Labbe 64fc7a05ae TriggerNewMap: move all locations of STM in WM 2015-03-05 17:06:17 -05:00
Mathieu Labbe c221461d99 Memory init: load all signatures in WM (instead of STM and WM) 2015-03-05 16:53:00 -05:00
Mathieu Labbe 3e91d35715 fixed bug in epipolar geometry tool 2015-03-05 11:38:25 -05:00
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 c93460aadb GUI:fixed reversed source images/usb. CameraImages: added auto conversion of 4 channels images 2015-03-02 14:59:24 -05:00
Mathieu Labbe 1d33b43ee7 Merge branch 'master' of github.com:introlab/rtabmap 2015-03-02 05:49:57 -05:00
Mathieu Labbe f108c0753b updated default OdomBow/NNDR and LccReextract/NNDR to 0.8 2015-03-02 05:49:43 -05:00
Mathieu Labbé 2029033dbf fixed the yellow screen on start (where inliers=0 for the first frame) 2015-03-02 05:30:07 -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 Labbe 34f4b3132d fixed crash when setting label to new map, fixed assert "Signature %d should not be used when transferred to trashgit add corelib/*git add corelib/*" 2015-03-01 18:00:08 -05:00
Mathieu Labbe 19a7ff9552 shorten a warning msg 2015-03-01 16:04:10 -05:00
Mathieu Labbe 5971dd2eab Merge branch 'master' of github.com:introlab/rtabmap 2015-03-01 15:51:21 -05:00
Mathieu Labbe d3a2c62b45 Fixed bug where all global loop closures were rejected when LoopRatio was set 2015-03-01 15:51:04 -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 Labbé 395dac5777 fixed windows compilation 2015-02-28 15:46:04 -05:00
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 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
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 cdb1e29d45 Fixed not working "Insert data in GUI cache" when disabled 2015-01-12 17:43:42 -05:00
Mathieu Labbe cd3bd2948e fixed checked/unchecked actions of menu "Select Source..." 2015-01-12 16:53:18 -05:00
Mathieu Labbe 74d6f9c83d Fixed not unchecked Auto-Screenshot when cancelled 2015-01-12 15:39:33 -05:00
Mathieu Labbe d202c13118 updated catkin package version to 0.8.2 2015-01-12 14:35:29 -05:00
Mathieu Labbe dafe446c93 Updated version to 0.8.2: fixed CMAKE_INSTALL_LIBDIR to "lib" by default for Catkin 2015-01-12 14:33:40 -05:00
Mathieu Labbe 167af9b0ea Updated version to 0.8.1 2015-01-09 13:46:12 -05:00
Mathieu Labbe 21dc506f82 Moved definition of the static Transform::getIdentity() method in header file in order to fix issue 5 2015-01-09 13:42:02 -05:00
Mathieu Labbe 05ee9a7b84 fixed odometry "empty image?" error when reading from database with 
stereo images, fixed databaseViewer fatal error when there are null
poses
 2015-01-08 16:12:45 -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
matlabbe 4c2dad453d modified importfile.m so headers so log files with headers can be loaded, fixed getPrecisionRecall.m for a "*=" error by MATLAB 2015-01-05 16:00:42 -05:00
Mathieu Labbe 42af8aabe2 fixed name of the saved ground truth file from the console application, updated "samples" ground truth file 2015-01-05 14:29:03 -05:00
Mathieu Labbe 620e8fbdd1 using CMAKE_INSTALL_DATAROOTDIR variable instead of explicitly setting "share" 2014-12-20 14:14:35 -05:00
Mathieu Labbe e4012bf932 Merge branch 'cmakeinstall' of https://github.com/aballier/rtabmap 2014-12-19 11:10:07 -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 6acf374063 cmake config install dir backward compatibility to lib directory 2014-12-09 21:34:04 -05:00
Mathieu Labbe 9287570b71 Updated library install directory, removing explicitly setting RPATH 2014-12-09 20:17:03 -05:00
Mathieu Labbe ee4886208b removed doc @mainpage from SimpleIni.h 2014-12-05 13:16:36 -05:00