matlabbe
6c452137b2
Fixed wrongly yaw reset instead of pitch when resetting odometry to a pose with Force2D enabled
2015-12-07 10:19:08 -05:00
matlabbe
60f34fe994
Rejecting last loop closures if optimization fails. Fixed _lastLocalizationNodeId not found in optimized poses in Localization mode.
2015-12-01 14:51:26 -05:00
matlabbe
4d97ba80d6
Don't trigger new map in localization mode when identity odom is detected
2015-12-01 12:34:34 -05:00
matlabbe
4e9ba66555
Ubuntu 12.04 an g2o, fixed -std=c++11 error
2015-12-01 11:51:59 -05:00
matlabbe
f2d6ff6748
Fixed signatures not saved after switching online from Mapping to Localization mode
2015-11-27 17:59:38 -05:00
matlabbe
69a04121a3
Added Mem/MapLabelsAdded parameter (default true)
2015-11-27 14:57:29 -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
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
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 cdeb07917c)
2015-11-03 17:31:07 -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
f561a59a09
DBDriver: added ignoreBadSignatures param to getAllNodeIds()
2015-10-28 16:50:18 -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
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
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
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
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
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
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
