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506 Commits 29 Branches 163 Tags
56e372f8d2b3f651764c9fd84a13c5811e4af32b
Commit Graph

129 Commits

Author SHA1 Message Date
matlabbe
56e372f8d2 Updated ImageView with GraphicsView mode disabled by default. Updated DataRecorder. 2015-03-30 10:47:38 -04:00
matlabbe
ae239bcfbc Updated menu/toolbar layout 2015-03-28 21:43:53 -04:00
Mathieu Labbe
ad6ee69ac6 Grid map: added "erode" option 2015-03-20 14:03:09 -04:00
Mathieu Labbe
b1827aeb89 DatabaseViewer: added graph depth param. Rtabmap: when the robot is not moving, now deleting location "after" retrieval 2015-03-16 18:22:54 -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
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
matlabbe
cf69f17925 Added Source/Mirroring parameter for convenience 2015-02-28 18:09:22 -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
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
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
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
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
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
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
Mathieu Labbe
9e1d38fe09 added Odometry view to MainWindow, increased version to 0.7.3 2014-12-02 17:01:24 -05:00
Mathieu Labbe
4fd9361bba updated links in about dialog 2014-11-27 16:02:42 -05:00
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
fe20e03afb GUI: export clouds in binary mode by default 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2007 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-14 22:07:03 +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
ae3947988d gui: ui update 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1985 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-12 16:44:17 +00:00
matlabbe
7efc6aab2d added EpipolarGeometry::triangulatePoints() (LS and iterative LS) 
Added option to see words3d in constraint view

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1974 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-07 20:04:04 +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
91a6799a40 DatabaseViewer: added action refine links visually 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1961 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-03 19:14:02 +00:00
matlabbe
4140e883b5 typo... 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1958 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-03 13:53:54 +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
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
457c068e0f Refactored how visualization data are transfered between core and gui: using only Signature object instead of separated image,deph,fx,fy... 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1928 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-26 21:47:29 +00:00
matlabbe
a75136fb9b increased default source rate to 30Hz 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1900 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-20 20:13:02 +00:00
matlabbe
d0325f3171 Added util3d::occupancy2DFromCloud3D() and util3d::create2DMapFromOccupancyLocalMaps() methods to create 2D occupancy maps from 3D clouds 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1899 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-20 02:14:31 +00:00
matlabbe
b97426c83d fixed warning of logStatisticsHeader parameter not set in Preferences 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1898 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-18 13:12:45 +00:00
matlabbe
fcd3301665 Stereo! The memory can now handle directly stereo images. Disparity can be computed on the fly by keeping left and right images, so for features extraction (and for re-extraction on loop closure), we can compute 3D points precisely. New parameters can be found under "RGB-D Mapping->Stereo". Full image disparity is reconstructed in the GUI (not the core). 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1861 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-16 00:14:23 +00:00