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51 Commits

Author SHA1 Message Date
matlabbe
e8af8f7792 Added SensorData's globalPose and globalPoseCovariance field. Link: added new type PosePrior. g2o: adding edge prior for self-refering edges. Memory: adding self-refering link when SensorData's globalPose is set. 2017-05-22 21:05:34 -04:00
matlabbe
7f8ca64f64 DbViewer: added frame selection when exporting poses. DBDriver: added getLaserScanInfo(). 2017-05-11 15:02:18 -04:00
matlabbe
104c1e6945 0.13.0 Database: Added velocity field to Node table, renamed Map_Node_Word table to Feature, added information_matrix field to Link table (replacing rot_variance and trans_variance). Added graph::calcKittiSequenceErrors().Added "Mem/IntermediateNodeDataKept" parameter (default false). Updated all interfaces using rotVariance and transVariance values with covariance matrix instead. g2o SBA: always use covariance in links. kitti-dataset tool: added --disp option and kitti statistics are shown at the end. StatsToolBox: units can have "/". 2017-05-11 15:02:18 -04:00
matlabbe
767b29d5a3 Updated detect more loop closures with optimization check to accept (like in dbviewer). DBViewer: added Depth image edition dialog. GainCompensator: now doing it on 3 channels separatly. Export: removed gain's alpha option, added max polygons option, added brightness/contrast auto balance option 2017-03-31 18:56:52 -04:00
matlabbe
af1cdadabd Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph. 2017-02-15 19:07:10 -05:00
matlabbe
14908e3a11 rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded. 
Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
 2016-11-21 17:09:04 -05:00
matlabbe
8560baca87 Fixed fx=0 error when running multi-session databases 2016-11-16 12:28:33 -05:00
matlabbe
9e0b45e27a Fixed "UNIQUE constraint failed: Statistics.id" error when loading a previous map with last id saved in Statistics not in Node table (this happened when ignored locations are not saved to database). 2016-10-29 18:12:27 -04:00
matlabbe
3530da935b 0.11.11: changed Statistics table name to Info and added new Statistics table containing detection statistics. StatisticsToolBox can cache statistics (true by default). DatabaseViewer: new Statistics panel to see all statistics contained in the database. 2016-09-20 11:19:34 -04:00
matlabbe
797f1f0f1c DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close 2016-08-31 12:43:54 -04:00
matlabbe
013eba1d58 0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes. 2016-08-31 12:43:53 -04:00
matlabbe
ca6cd19fb1 Updated Copyright year and About dialog summary 2016-07-17 21:57:10 -04:00
matlabbe
38a7993a9b Database: added "parameters" field in Statistics table. GUI: detecting if parameters in database are different from the Preferences, if so ask user to update them. 2016-06-13 17:34:17 -04:00
matlabbe
af405e69b1 Tango #57: Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering 2016-04-04 13:03:43 -04:00
matlabbe
5d9522c901 Tango #57: Global optimization / Post-processing on pause 2016-04-03 21:35:30 -04:00
matlabbe
e7565db5d0 0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present). 2016-01-07 19:39:21 -05:00
matlabbe
f561a59a09 DBDriver: added ignoreBadSignatures param to getAllNodeIds() 2015-10-28 16:50:18 -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
5934ec90db DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases 2015-10-16 14:54:47 -04:00
matlabbe
0cf1ea8777 Moved some common include files to public headers folder 2015-08-25 10:32:27 -04:00
matlabbe
d67500d7bf DBDriver: added getDatabaseVersion() method 2015-07-26 17:45:48 -04:00
Mathieu Labbé
dc48b4d4f4 some fixes for CameraFlyCapture2 driver on Windows, fixed OdometryMono with stereo cameras 2015-07-06 17:25:38 -04:00
matlabbe
4f96fd3530 Version 0.10.1: user_data is now a cv::Mat to avoid a deep copy when SensorData is copied 2015-06-28 19:22:18 -04:00
matlabbe
a5efee20bc Using Dijkstra for global planning for a significative performance boost (no need to optimize the graph before computing the path) 2015-06-21 18:29:12 -04:00
Mathieu Labbe
c6d0d47b1c Added multi-camera feature 2015-05-29 14:46:48 -04:00
Mathieu Labbe
abb7eb15ac Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table 2015-05-01 07:30:09 -04:00
Mathieu Labbe
fa3a2421f6 Added Monocular SLAM (experimental), Odometry classes refactoring 2015-04-23 22:01:41 -04:00
Mathieu Labbe
186dc60a49 Version 0.8.8: added "user_data" field in database. Added WifiMapping example. Fixed FATAL error when initializing rtabmap with no database. 2015-03-25 13:31:12 -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
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 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
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
f8b625c7c7 Added DBDriver::setTimestampUpdateEnabled() 
Don't update timestamps if only links are modified
 2015-02-04 17:40:16 -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
matlabbe
0f7cc38688 Memory efficiency: changed std::vector<unsigned char> bytes arrays to cv::Mat to avoid multiple copies when Signature objects are copied. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1937 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 19:57:21 +00:00
matlabbe
b56e03b463 -Updated File menu with new actions "New database...", "Open database", "Close database" and "Edit database". Each new session will be automatically saved when closing the database. The "play" action cannot be activated until a new database is created or a previous session database is opened. 
-  Memory usage reviewed for the GUI: we don't uncompress data for downloaded nodes from "Download all clouds" action.
- Odometry: added optional argument "initialPose" to reset() method

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1930 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 01:20:57 +00:00
matlabbe
c441cc1d0f Added Map color overlay on 3D cloud (press key '2' on keyboard) 
Fixed loading all node ids from database, ignoring children

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1813 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-01 21:44:46 +00:00
matlabbe
29097c023e Changed license to BSD 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1633 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-11 17:00:55 +00:00
matlabbe
f090c81aaf Added CalibrationDialog in Preferences->source for convenience. The database is also changed to handle new FX, FY, CX and CY intrinsic parameters instead of only depthConstant parameter. Added version of the database in a new table Admin. Updated to version 0.7.0. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1613 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-26 04:36:00 +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
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
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
916bafeba1 DbDriver: removed not used KillCleanup method 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@801 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-02-01 19:50:13 +00:00
matlabbe
bb2fbc67e0 Fixed saving/loading dictionary (not loaded words) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@676 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-12-12 16:40:18 +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
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
e2cad72bd0 Added sensorStateOnly parameter : dont use the actuator values in the SM state if true 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@99 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-13 18:29:21 +00:00
matlabbe
196dc01a57 Fixed the adding of neighbor's actions when adding a loop closure link 
Fixed loading config file with the ros gui_node (switch between rosparam and a config file )

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@97 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-10 19:56:07 +00:00