matlabbe
4d97ba80d6
Don't trigger new map in localization mode when identity odom is detected
2015-12-01 12:34:34 -05:00
matlabbe
fc47d07b85
merged master to 0.11.0
2015-11-30 19:39:05 -05:00
matlabbe
096684ed94
Neighbor link refining: set small variance if small displacement and variance=1
2015-11-27 13:04:01 -05:00
matlabbe
7d35906398
Refactoring: Split all graph optimization approaches in multiple files
2015-11-27 11:09:39 -05:00
matlabbe
93326ab1fe
Refactoring: changed Statistics name "OdometryCorrection" to "NeighborLinkRefining"
2015-11-26 16:22:46 -05:00
matlabbe
148504dabd
Fixed Memory::computeScanMatchingTransform() (now named computeIcpTransformMulti())
2015-11-26 16:03:03 -05:00
matlabbe
ba6733411a
merged master to velodyne
2015-11-26 13:37:37 -05:00
matlabbe
7d521819f0
moved Rtabmap::[read,write]Parameters() and getVersion() to Parameters class (readINI(), writeINI() and getVersion()). Added Parameters::getDefaultOdometryParameters() and Parameters::isFeatureParameter() for convenience.
2015-11-26 13:16:01 -05:00
matlabbe
cd39a8c027
0.10.12: Added rtabmap::getLastLocalizationPose() method (to get last corrected pose either in mapping or localization mode)
2015-11-25 15:45:27 -05:00
matlabbe
da1129cf79
Refactoring of some parameters (LocalLoopDetection* to Proximity*) and variables in code
2015-11-25 12:15:41 -05:00
matlabbe
56383d4cfb
Merged master to velodyne
2015-11-22 18:15:33 -05:00
matlabbe
ae9f21acd7
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
matlabbe
10d683a38e
Graph optimization: fixed stop error criterion for g2o and gtsam, previous optimized poses are now used as guess for the optimized graph
2015-11-18 19:40:46 -05:00
matlabbe
0dedc62ce8
Disabled local loop detection on intermediate nodes
2015-11-09 11:46:30 -05:00
matlabbe
620ce51f70
Fixed warnings on Windows
2015-11-03 12:49:03 -05:00
matlabbe
47d98b2912
GUI: GFTT quality min is now 0.0001, fixed fatal error when LocalLoopDetectionSpace=True and not RGB-D SLAM mode
2015-10-28 18:48:17 -04:00
matlabbe
02ebb3c7e8
Some fixes:
...
-Memory: Fixed wrongly rejected scan matching transform because of too large correction
-DBViewer: Fixed not shown proximity scans
-DBDriver: Fixed not loaded links' user_data on getAllLinks() method
-MainWindow: Added planning statistics
-DBReader: set a maximum of 10 sec sleep if the map ID has changed
2015-10-26 12:59:20 -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
1f33c39f3c
Updated for issue #36 : Moved "Export Poses..." to File menu, added "Export images..." action too, updated when some export actions are enabled or disabled
2015-10-16 20:11:24 -04:00
matlabbe
5f488ed269
Added Memory/Distance_travelled/m to Statistics
2015-10-13 16:57:02 -04:00
matlabbe
88a3f425c1
Added RGBD/ScanMatchingIdsSavedInLinks parameter
2015-10-13 16:06:19 -04:00
matlabbe
988e83cf1c
Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label.
2015-10-13 12:50:25 -04:00
matlabbe
b8757f6e8b
Don't optimize the graph on localization (just update last pose) if there are no retrieved signatures and the loop closure is on a node already in the optimized graph
2015-10-07 11:38:31 -04:00
matlabbe
fbf967066a
Added LccBow/VarianceFromInliersCount parameter (linked with Odom/VarianceFromInliersCount in standalone gui)
2015-10-02 10:40:18 -04:00
matlabbe
0c8309bb28
Memory: Fixed all recent memory immunized when lastGlobalLoopClosure is 0. Notify plan failed (instead of success) when the target node id is not found.
2015-09-30 11:36:49 -04:00
matlabbe
fccaa11de1
Localization mode: fixed errors when planning, fixed localization from last node, fixed localization flickers when memory management is running
2015-09-29 23:48:05 -04:00
matlabbe
7ea730bb0a
planning: fixed a bug making the last pose published again even after stuck detected
2015-09-27 12:01:02 -04:00
matlabbe
88e67f047a
Version 0.10.9: added RGBD/PlanStuckIterations parameter (default 0) to detect when a node in the planned path is unreachable
2015-09-23 18:15:34 -04:00
matlabbe
fb69f770f9
Updated when computePath(...) returns true or false
2015-09-23 12:11:18 -04:00
matlabbe
007c192b6a
Create2DMap: eroding only on cells having at least 3 empty neighbor cells
2015-09-16 17:12:01 -04:00
matlabbe
d7e6a2c0e8
Updated computePath(pose) to avoid links pointing to nodes not in WM
2015-09-15 18:17:38 -04:00
matlabbe
16d998f3b0
GraphOptimizerGTSAM: Fixed not returned poses when there is only one
2015-09-15 16:36:28 -04:00
matlabbe
53fa85e38a
fixed reset UPlot on rehearsal after small movement detected. GUI: modified color for pose correction (DarkCyan) and small movement (Gray)
2015-09-14 11:31:26 -04:00
matlabbe
e290dfc111
Fixed pose scan matching drift (with OptimizeFromGraphEnd=true)
2015-09-14 09:40:28 -04:00
matlabbe
91d87ec6a8
fixed null variance assert on local loop closures in Time/Space
2015-09-09 22:31:02 -04:00
matlabbe
e3161c3b04
Fixed vector out of bound error (findNN() matchesNotIndexed vector). Fixed error "map correction should be identity" when small displacement detected before scan matching
2015-09-09 20:11:18 -04:00
matlabbe
beab2271f0
Added statistics for incremental flann index size
2015-09-09 12:08:51 -04:00
matlabbe
5dcbb66a6d
Fixed FATAL error for link variance == 0 on loop closure of two identical images
2015-09-08 23:18:12 -04:00
matlabbe
198899ba32
Added parameter "RGBD/OptimizeMaxError" (default: 1 m) to reject loop closures after too large optimization errors
2015-09-03 12:37:14 -04:00
matlabbe
7a721105ae
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
matlabbe
a2b9c9f9a0
Updated rehearsal behavior when there are intermediate nodes and RGBD/LinearUpdate,RGBD/AngularUpdate are set.
2015-08-28 23:05:45 -04:00
matlabbe
12bd8a1720
Added special export poses for the KITTI dataset
2015-08-25 19:36:48 -04:00
matlabbe
0cf1ea8777
Moved some common include files to public headers folder
2015-08-25 10:32:27 -04:00
matlabbe
a88e8dd013
ICP correspondence ratio set to 0 when maximum laser scan count is not set
2015-08-05 20:16:27 -04:00
matlabbe
554b8978a0
Updated how RtabmapCmdEvent should be called (using UVariant). MainWindow: added new actions to export poses (KITTI, RGBD-SLAM and TORO formats)
2015-08-01 23:42:36 -04:00
matlabbe
2877a14360
Added CameraRGBDImages class (read RGB-D images from a folder)
2015-07-30 14:17:29 -04:00
matlabbe
185bc12cae
sending words too when getting map
2015-07-15 18:15:27 -04:00
Mathieu Labbé
2d7be6be48
modified how correspondences ratio is computed (icp 2D and 3D), also fixed build with OpenCV3+Cuda
2015-07-11 12:42:46 -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
b7faef35f1
Refactored motion estimation parameters in the GUI.
2015-06-27 01:43:29 -04:00
matlabbe