Mathieu Labbe
50eeda5b95
merged multicamera branch into devel branch
2015-06-16 17:41:51 -04:00
matlabbe
b8dccc2228
Added CameraStereoImages class to read stereo images from a directory. Added a particle filter to smooth odometry trajectory. Added parameter RGBD/OptimizeEpsilon to limit TORO iterations when error improvement is small. Added Rtabmap/CreateIntermediateNodes parameter: this can be used to keep all odometry poses 'between' nodes used for loop closure detection. Added PnP approach to loop closure constraint estimation. Fixed decimation of stereo images when image size is odd.
2015-06-11 16:57:16 -04:00
Mathieu Labbe
7d72aa83bc
fixed sensor data not loaded on 0.10.0 database version
2015-06-06 19:20:38 -04:00
Mathieu Labbe
bd9fb1027b
Added util3d::laserScanFomrDepthImage() and some refactoring
2015-05-31 01:26:57 -04:00
Mathieu Labbe
9e13642a47
fixed runtime errors for single depth camera and stereo
2015-05-30 20:05:35 -04:00
Mathieu Labbe
c6d0d47b1c
Added multi-camera feature
2015-05-29 14:46:48 -04:00
Mathieu Labbe
9fde57843f
Increased version to 0.9.0. Refactoring: Split util3d.h into multiple files util3d_****.h to reduce compilation time. Also removed all PCL templates to reduce memory used while compiling.
2015-05-13 19:54:23 -04:00
matlabbe
04bd596705
Planning update: remove virtual links up to current path index
2015-05-11 15:48:27 -04:00
Mathieu Labbe
4927b56939
Updated local loop closure detection in space and path planning for Localization mode.
2015-05-06 00:29:54 -04:00
Mathieu Labbe
cf5f998e06
Added path immunization between the nearest local location and the current pose. New parameter: "RGBD/LocalImmunizationRatio"
2015-05-04 16:00:21 -04:00
Mathieu Labbe
26305588da
fixed weighting while moving
2015-05-03 21:00:18 -04:00
Mathieu Labbe
b23d9808bf
updated how weight is updated when moving
2015-05-03 20:03:53 -04:00
Mathieu Labbe
d7030e0e38
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -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 Labbé
d09e8f237a
fixed Windows build and some warnings
2015-04-29 00:38:00 -04:00
Mathieu Labbe
a4f11b7a3b
Updated default RGBD/LocalLoopDetectionPathFilteringRadius to 0.25
2015-04-27 18:16:04 -04:00
Mathieu Labbe
db90da7303
Updated how local scan matching is done (doing it on segmented local paths)
2015-04-27 02:43:06 -04:00
Mathieu Labbe
fa3a2421f6
Added Monocular SLAM (experimental), Odometry classes refactoring
2015-04-23 22:01:41 -04:00
Mathieu Labbe
5700c14bcb
DatabaseViewer: added exporting of a specific session with or without user_data. MainWindow: added action to send goal to rtabmap. Rtabmap: Saving goals in user_data of the current signature, modified parameter Mem/RehearsedNodesKept to Mem/NotLinkedNodesKept. DBReader: added sending goals when detected while playing back a database.
2015-04-17 18:30:12 -04:00
Mathieu Labbe
fee32c4e25
Added stereo option for the CalibrationDialog class
2015-04-05 16:42:41 -04:00
Mathieu Labbé
37c34e8186
Fixed some warnings on VisualStudio2010
2015-04-01 10:38:59 -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
722268a95c
Refactoring...
2015-03-20 09:56:54 -04:00
Mathieu Labbe
fe06b34399
fixed lastSignature set to loop closure child instead of neighbor
2015-03-19 17:16:23 -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
0c55d30f76
Added Memory::getAllLabels(), added labels to statistics and added DBDriver::getNodeInfo()
2015-03-06 16:14:09 -05:00
Mathieu Labbe
64fc7a05ae
TriggerNewMap: move all locations of STM in WM
2015-03-05 17:06:17 -05:00
Mathieu Labbe
c221461d99
Memory init: load all signatures in WM (instead of STM and WM)
2015-03-05 16:53:00 -05:00
Mathieu Labbe
8fd0f3761a
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
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 Labbe
19a7ff9552
shorten a warning msg
2015-03-01 16:04:10 -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
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
5a37393a45
Only update weight on rehearsal if the displacement is too high (using parameters RGBD/LinearUpdate and RGBD/AngularUpdate)
2015-02-17 18:51:37 -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
c8028c91ac
minor refactoring
2015-02-16 16:13:44 -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
3d1eccbce1
changed all std::atof() to uStr2Float() to fix locale comma float conversion problem
2015-02-04 21:20:17 -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
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
2cc34cbe7e
fixed a not retrieved signatures bug
2015-01-27 16:57:07 -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
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
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
374ef280f2
If OpenCV nonfree module is not found, RTAB-Map will still build but with disabled SURF/SIFT options. Default BOW dictionary will be ORB in this case.
...
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2071 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-11-21 23:37:23 +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
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
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
Mathieu Labbe