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Commit Graph
307 Commits
Author SHA1 Message Date
matlabbe 0fa8b401c4 just changed a variable name 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1458 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-06 19:11:49 +00:00
matlabbe f34907f92f Added optimizeFromGraphEnd (default true) parameter. It can be used to keep the map referential from the oldest node in the current graph 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1441 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-25 23:00:35 +00:00
matlabbe e9ae29f909 fixed some warnings in Windows 
fixed Transform::getNorm()

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1436 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-23 15:19:17 +00:00
matlabbe 65b79cd7a2 Refactored OdometryBOW class to handle binary descriptors too (removed OdometryBin). 
Odometry: added "local map history" option to increase precision
Added new Nearest neighbor options (LSH, brute Force, GPU brute Force)
Added FREAK/ORB features
Increased version to 0.6.5

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1431 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-22 03:33:56 +00:00
matlabbe e6f24dfcc5 Fixed some size_t/int warnings. 
Fixed compilation error on Windows for ExtractObject tool (include pcl_ros/transform.h missing).

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1295 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-05-05 15:18:41 +00:00
matlabbe 510e9cab89 Removed optimizeCurrentMap() on rtabmap initialization when not in RGBD mode 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1136 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-20 20:46:12 +00:00
matlabbe b44e01a3bb New parameters: max accepted ICP translation error, new map on large odometry error 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1126 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-19 19:00:38 +00:00
matlabbe 5dbf6678ce refactoring: terms "current" and "full" changed for "local" and "global" respectively 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1122 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-17 22:58:46 +00:00
matlabbe ea570abb8c New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid) 
New parameter: RGBD/ToroIterations=100
Rtabmap: added getGraph() method to get TORO poses/link constraints
Fixed ICP correspondences ratio over 1
CloudViewer: added frustum culling and camera view up z lock in render(), moving camera using arrow keys, Menu options: Camera far plane clipping, background color
DatabaseViewer: added 3D Map view and Graph view
MainWindow: Moved main widget (loop closure image status) to a dock widget, added Graph view.


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1075 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-11 23:04:22 +00:00
matlabbe 22e3082adc Increased version to 0.6.2 
Memory management tested on RGBD SLAM
Fixed some crashes
New parameter RGBD/LocalLoopDetectionMaxDiffID
New parameter LccIcp2/VoxelSize
Updated parameter LccIcp/Type (added "No ICP" type)
Updated parameter kLccBowMinInliers (inliers minimum reduced to 1)
TORO optimization: The graph root is explicitly defined as the last node added (fixed a TORO crash when a root could not be found)
TORO optimization: only one constraint between neighbors and loop closures
TORO optimization: added initial tree guess
Map correction/Map transform: now only used in localization mode (map correction is always identity on mapping mode)
New statistics: local loop space diff, last loop closure parent and child ids
Database: Fixed empty signatures with no poses loaded
ICP: fixed transform multiplication order
Dump memory: added 3D words
DatabaseViewer: added Export option (added ExportDialog object)
DataRecorder: Option recording in RAM or Hard drive
GUI: added a dock widget (MapVisibilityWidget) to change visibility of nodes in the 3D map
GUI: fixed progress bar step count when generating the map
Menu option: generate TORO graph (full/current map, optimized/not optimized)
Menu option: download map (full/current map, optimized/not optimized)
Preferences: added Reset all settings button
Preferences: A QGroupBox can be a boolean parameter

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1066 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-22 19:49:28 +00:00
matlabbe 11eed189c9 Retrieved data are now included in the rtabmap info message 
Map transform is only defined with the last loop closure for localization mode: on loop closure between two maps, there is only a TORO link added between the locations (no need to keep the transform between the maps) 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1058 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-08 16:11:00 +00:00
matlabbe 4a150e3215 fixed delete database action when memory is not yet initialized, enabled gpu SURF option when available 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1055 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-14 02:43:26 +00:00
matlabbe 1c3f78f2d6 fixed Win32 build (VS2010) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1050 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-12 22:36:56 +00:00
matlabbe 8b8511e154 Merged pcl_integration branch to trunk 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-11 00:12:44 +00:00
matlabbe 97c70d394e core: added rtabmap::deleteLocation(id) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@920 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-08-20 20:37:24 +00:00
matlabbe 6c656e7c57 rtabmap: localization mode (run under fixed memory and fixed dictionary), optional retrieving of the last extracted words when calling rtabmap.process() (useful when in localization mode where the last location is deleted after the rtabmap process) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@882 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-06-10 18:54:11 +00:00
matlabbe 504e51db12 RTAB-Map : added localLoopClosureId for VSLAM use... 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@877 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-06-05 19:25:16 +00:00
matlabbe b92d0444ac Included UtiLite library directly in Rtabmap source (to simplify the installation) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@855 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-04-30 20:16:01 +00:00
matlabbe ff6e6f84c5 rtabmap: Added parameter to disable logs of the statistics 
rtabmap: Added parameter to avoid saving to database nodes/words of rehearsed nodes

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@834 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-03-02 21:53:47 +00:00
matlabbe e8e75a9d40 Rtabmap: Refactoring... removed all threading/events related stuff from Rtabmap object to RtabmapThread object (a thread wrapper of the rtabmap object) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@803 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-02-03 22:12:02 +00:00
matlabbe f73983afd2 rtabmap: added rejectLastLoopClosure() method, for convenience if a validation is done outside RTAB-Map and to reject loop closure detected by RTAB-Map. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@782 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-29 15:48:36 +00:00
matlabbe 1b7c995ea0 Fixed default nearest neighbor approach for the dictionary when the parameter is not set. 
rtabmap_gui parameters panel can be opened without rtabmap parameters set on ROS (only GUI parameters can be changed).
Rtabmap: added getStatistics() method for convenience
Rtabmap/Memory: added deleteLastLocation() method to remove the last location in the STM.
 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@779 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-28 18:13:56 +00:00
matlabbe a4ccd6acd6 rtabmap: added parameter to keep the old id or to update to new id when merging on rehearsal 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@758 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-27 04:50:49 +00:00
matlabbe 635dd9c177 Added Rtabmap::getNeighbors() method for convenience. Fixed lost of db parameters when resetting memory when memory has not changed. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@754 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-25 21:05:20 +00:00
matlabbe 0c1b8d7349 Added image sequence to rtabmap::Image class 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@740 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-21 18:55:25 +00:00
matlabbe 1041ddd8a5 Protected public rtabmap methods with a mutex (to be safe to call when rtabmap thread is started) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@734 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-15 16:43:40 +00:00
matlabbe 0452aec181 rtabmap: setup working directory and deleting memory is done in init() instead of the Rtabmap constructor. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@731 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-13 19:59:53 +00:00
matlabbe ec4c0522e7 Generating Graph in the c++ example 
Added png of the generated graph in doc

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@707 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-10 21:55:57 +00:00
matlabbe b032699860 Making Rtabmap interface easier to use from c++ (Update c++ example usage) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@695 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-10 20:29:01 +00:00
matlabbe 0f4e24233c Added c++ example usage 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@694 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-10 16:28:12 +00:00
matlabbe a54cb5540f fixed log bug (column shifted) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@691 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-10 14:06:38 +00:00
matlabbe 05f7a426e1 removed a warn log... 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@666 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-12-11 22:12:58 +00:00
matlabbe 23384182c1 Fixed a crash when posterior is empty (on bad signature) 
MainWindow: Show in console a neato example with the generated map

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@665 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-12-11 20:21:22 +00:00
matlabbe 2836d4c48c merged attention branch to trunk 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@657 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-12-11 18:05:05 +00:00
matlabbe 17b8e10ed8 Merged Audio branch to trunk 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@560 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-06-24 17:19:34 +00:00
matlabbe 06fb556e78 Removed immunization of retrieved locations near in space (trunk, merged back changes from r478) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@482 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-04-16 13:54:09 +00:00
matlabbe a2eb8bcab6 MERGE branch STM 325:449 into trunk 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@450 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-03-03 01:46:30 +00:00
matlabbe c4aff5f20a Fixed printf unsigned int warning (Win32) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@318 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-09-16 20:40:56 +00:00
matlabbe 4a3317dd06 Removed DisableReactivation parameter (indirectly included by the RetrievalThr when = to 1) 
Some default parameters' values modified for robot learning

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@316 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-09-16 17:37:54 +00:00
matlabbe 176ca33e27 Updated CameraDatabase : loading also the associated actions with image loaded 
Memory : Saving neighbors of looped locations (for a trace in DB)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@313 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-08-25 20:22:50 +00:00
matlabbe d75bbb130c Added confidence threshold parameter 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@310 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-08-24 17:27:14 +00:00
matlabbe 649153e1df Cleanup gui 
Fixed crash when a new location (B merged with previous location A through rehearsal) and then loop on a location already merged with the location A (which is not anymore in WM)
Updated rejected hypothesis tag

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@299 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-07-23 03:55:05 +00:00
matlabbe 9fe16dd504 Added rejected tag when sim=0 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@296 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-07-20 00:18:42 +00:00
matlabbe bcbd35d368 Retrieval margin spreading +2 
Rollback change about last location in WM not used in posterior (now it is)
In consoleApp, surf extraction is done outside the rtabmap processing

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@295 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-07-19 21:52:33 +00:00
matlabbe 73a2d589ab Added statistics : Rehearsal value, retrieval margin 
Updated the way how the retrieval margin is increased/reset
Posterior ignoring the last added location to WM
Auto save figure, removed the "-" in the generated date name


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@294 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-07-18 17:59:57 +00:00
matlabbe fb48cce623 Updated version to 0.3. Now when deleting the memory, RTAB-Map reset the log files at the same time. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@209 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-21 17:19:45 +00:00
matlabbe 8939ac9b2e Select next actions based on posterior values (highest neighbor's hypothesis is selected) 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@105 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-14 13:40:15 +00:00
matlabbe b01f3191fa Added option in GUI to show image of the highest hypothesis 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@95 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-10 14:04:06 +00:00
matlabbe f6a782727f Fixed ini configuration file encoding bug (unicode vs native, maybe only appeared on Linux) 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@91 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-09 16:00:45 +00:00
matlabbe 25c2a9f07e -Refactored HypVerification classes (added verification by signatures' similarity), there is no more complicated rejectedHypReason, now it's only true if valide or false if verification fails... 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@86 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-09 02:56:31 +00:00