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Author SHA1 Message Date
matlabbe 63c96f39a3 Added GridAdaptor for FAST feature (issue #43). Fixed RegistrationVis feature parameters not set. Added FAST_ORB feature type. 2015-11-25 19:56:14 -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 1e5bcfded8 GFTT: updated MinDistance=10 default 2015-11-12 11:17:26 -05:00
matlabbe d1eec16222 Added GFTT+ORB detector type 2015-11-11 12:08:20 -05:00
matlabbe 0dedc62ce8 Disabled local loop detection on intermediate nodes 2015-11-09 11:46:30 -05:00
matlabbe 798eb2330b Updated default badSignThr parameter 2015-11-06 14:46:35 -05:00
matlabbe e8bea5cba3 Fixed sqlite3 warnings 2015-11-06 14:10:45 -05:00
matlabbe 58190d5422 Added more Freenect2 options 2015-11-04 18:31:52 -05:00
matlabbe 2ee9183c17 Updated CameraFreenect2 with latest freenect2 library (commit https://github.com/OpenKinect/libfreenect2/commit/cdeb07917c3431abf530785c151c9656f1c26d3a) 2015-11-03 17:31:07 -05:00
matlabbe 620ce51f70 Fixed warnings on Windows 2015-11-03 12:49:03 -05:00
matlabbe dc20327a18 GraphView: added Maximum link length option 2015-10-29 09:53:35 -04:00
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 f561a59a09 DBDriver: added ignoreBadSignatures param to getAllNodeIds() 2015-10-28 16:50:18 -04:00
matlabbe f97dd2b05b typo... 2015-10-27 15:56:46 -04:00
matlabbe c884781741 DBViewer: added total time info 2015-10-27 13:39:29 -04:00
matlabbe 8fa7b73aea DBViewer: fixed some missing links/poses. GraphViewer: fixed global path color context menu action, now small links are ignored 2015-10-26 17:52:02 -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 957498b5a3 💄 2015-10-21 10:33:35 -04:00
matlabbe c15d9f3fe9 MainWindow/3d Rendering: Updated default Map max depth to 0.0 m 2015-10-21 09:27:25 -04:00
Mathieu Labbé 38b3e6c337 CloudViewer: fixed an iterator comparison error 2015-10-18 18:35:28 -04:00
Mathieu Labbé 2953217c2c fixed windows build errors 2015-10-17 16:36:34 -04:00
matlabbe 303e64e8d8 Updated default Graph Optimization parameters (iteration+epsilon). Added "Variance from Inliers" parameter to DatabaseViewer 2015-10-17 14:00:27 -04:00
matlabbe b565226ee5 Fixed issue 34: Post-processing with intermediate nodes 2015-10-16 20:43:00 -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 eaff524e30 MainWindow: added updateCacheFromDatabase() method (for ROS rtabmapviz) 2015-10-16 17:43:31 -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 835155e6ae CameraOpenNI2: Added OpenNI2 stamps/Ids option 2015-10-15 16:40:49 -04:00
matlabbe a8b5311d88 Fixed crash when adding new words to incremental FLANN (after some were removed from the dictionnary and deleted when transferring to database) 2015-10-15 14:08:30 -04:00
matlabbe 78164c9770 DbViewer: added ground angle and cluster size parameters for grid projection map 2015-10-14 17:11:30 -04:00
matlabbe b8382fe5bd Added/Removed some debug info 2015-10-14 14:40:18 -04:00
matlabbe c18b3842b9 debug info... 2015-10-14 13:34:25 -04:00
matlabbe 2f5d41fb3c Added Debug log in FLANN kd-trees index 2015-10-14 13:26:28 -04:00
matlabbe 457e1e9d21 Added Debug log in incremental FLANN stuff (to track a crashing bug) 2015-10-14 11:03:43 -04:00
matlabbe 9bd649009c Improved DatabaseViewer memory usage (by not keeping uncompressed data in cache) 2015-10-14 11:02:36 -04:00
matlabbe a8d83c895c increased graph::getConnectedGraph() performance 2015-10-14 10:03:36 -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 aaf0eba7ba OdometryBOW: desactivated Memory depth16 conversion 2015-10-09 11:15:38 -04:00
matlabbe afaf6509f7 DBReader: copy stamps in odom messages 2015-10-07 19:38:33 -04:00
matlabbe aa92486ff0 DatabaseViewer: fixed clouds still shown in constraints view when unchecked 2015-10-07 16:54:36 -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 f40e2516c7 CMake: Added location information about found libraries 2015-10-02 11:23:15 -04:00
matlabbe fbf967066a Added LccBow/VarianceFromInliersCount parameter (linked with Odom/VarianceFromInliersCount in standalone gui) 2015-10-02 10:40:18 -04:00
matlabbe ee76a02117 Using solvePnPRansac() of OpenCV2.4 in OpenCV3 (for some reasons RANSAC is better in OpenCV2.4, tested on Mac OS X). Updated default 3D->3D estimation parameters 2015-10-01 21:00:16 -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 e193aed720 Merge branch 'master' of github.com:introlab/rtabmap 2015-09-29 23:48:21 -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 bf0790f3b9 Added Odom/VarianceFromInliersCount parameter (default false) 2015-09-28 21:45:41 -04:00
matlabbe 3fa6124ad0 Improved performance of create2DMap() and fixed unknown space filled rotation when laser scans are inverted. Added fill unknown space option to DatabaseViewer. 2015-09-28 15:30:01 -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 bb2ea8a3a3 Create2DMap: set maximum scan range to 6 meters 2015-09-23 16:52:23 -04:00
matlabbe fb69f770f9 Updated when computePath(...) returns true or false 2015-09-23 12:11:18 -04:00
matlabbe c60a808c75 GUI: The global path is transformed in the current referential as the robot moves. Moved Goal actions in Detection menu. 2015-09-21 18:12:55 -04:00
matlabbe b6d2c6163e Increased version 0.10.8: modified RtabmapGlobalPathEvent interface with label 2015-09-21 16:35:36 -04:00
matlabbe 55834644cf Increased database version to 0.10.7: added scan_max_range column. Create2DMap: updated unknown cells filling depending on max laser scan range. Added util3d::frustumFiltering() to filter points in a specified frustum. 2015-09-17 22:55:45 -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 b8043665fe ICP correspondences ratio increased by default to 0.3 (for ICP 2D) and 0.2 ( for ICP 3D) 2015-09-16 14:37:42 -04:00
matlabbe 09b456f132 Create2DMap: put negative poses to back 2015-09-16 14:33:08 -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 ce025d1375 CameraModel: save distortion_model field for ROS compatibility 2015-09-15 11:38:29 -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 af32830969 Updated default "Kp/IncrementalFlann" = true 2015-09-14 10:21:15 -04:00
matlabbe e290dfc111 Fixed pose scan matching drift (with OptimizeFromGraphEnd=true) 2015-09-14 09:40:28 -04:00
matlabbe a45aa5d8f7 Renamed all flann headers to avoid conflicts if flann is already installed on the computer 2015-09-12 01:36:17 -04:00
matlabbe cf0d781020 Included FLANN headers in rtabmap for convenience (to have commit https://github.com/mariusmuja/flann/commit/23051820b2314f07cf40ba633a4067782a982ff3) 2015-09-11 23:23:01 -04:00
matlabbe 5cc17704d3 Merge branch 'master' of github.com:introlab/rtabmap 2015-09-11 22:00:11 -04:00
matlabbe 1f05cf3299 fixed a warning 2015-09-11 21:59:50 -04:00
matlabbe 567c6a8a51 VWDictionary removePoint(): added comments about having latest flann version to have a fix avoiding a Segmentation fault on dictionary update (only for flann incremental dictionary) 2015-09-11 18:42:20 -04:00
matlabbe cc5065eff0 Memory::getNeighborId() load only neighbor links from db when loop links are not required 2015-09-11 16:53:17 -04:00
matlabbe b98bc5a948 Flann incremental: remove points before adding new ones 2015-09-11 15:59:01 -04:00
matlabbe 1836f0fe25 NoEventsExample updated using camera rate 2015-09-10 16:22:21 -04:00
matlabbe 4f6eb5ce0b Added noEventsExample 2015-09-10 15:58:10 -04:00
matlabbe a8c3899f52 Improved performance of Bayes prediction matrix update 2015-09-10 12:34:52 -04:00
matlabbe 91d87ec6a8 fixed null variance assert on local loop closures in Time/Space 2015-09-09 22:31:02 -04:00
matlabbe 7c85f11fbb fixed goal events sent by DBReader 2015-09-09 21:09:51 -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 9a037b33ff Changed LinearIndex to Bruteforce for nn with not yet indexed words 2015-09-09 17:15:42 -04:00
matlabbe 1b13857693 fixed how flann 1.8 is detected 2015-09-09 16:44:55 -04:00
matlabbe acc47fa9a9 Fixed Windows build with flann<1.8 2015-09-09 16:36:59 -04:00
matlabbe e78071b427 fixed bruteforce nn initialization 2015-09-09 15:58:41 -04:00
matlabbe d83b260635 Removed dataTree when using flann incremental index (to save some space) 2015-09-09 15:50:26 -04:00
matlabbe beab2271f0 Added statistics for incremental flann index size 2015-09-09 12:08:51 -04:00
matlabbe 3be4b9a3f5 Mac OSX: fixed build error "atoi not defined" 2015-09-09 01:30:40 -04:00
matlabbe c107436e85 VWDictionary: changed miniflann to flann directly so version 1.8 can be used. Added parameter "Kp/IncrementalFlann" 2015-09-09 00:58:45 -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 d425d84ce2 Fixed Bayes Filter prediction generation bug 2015-09-07 23:31:03 -04:00
matlabbe f51754ad64 💄 2015-09-04 15:30:33 -04:00
matlabbe f912023a30 GUI: custom aspect ratio, option to save auto screenshots in RAM, default views updated (reseting 3D map camera position and hiding the status bar) 2015-09-04 13:46:37 -04:00
matlabbe 3bd9dd6a53 ImagesJoiner tool: can now merge images from two folders 2015-09-04 08:29:06 -04:00
matlabbe f731b30cf9 Fixed undefined vertigo (g2o) methods 2015-09-04 07:34:33 -04:00
matlabbe 1c327e7b67 GraphViewer: added loop closure outlier color option 2015-09-03 14:33:28 -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 786bbaa2c2 updated debug->info level at startup 2015-09-03 09:56:25 -04:00