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853 Commits 29 Branches 163 Tags
818eda005fb66494cb92957cd1b19c77c371761c
Commit Graph

234 Commits

Author SHA1 Message Date
Tobias Fischer
b5e015ec8f Add QT5 Support 2015-03-16 22:54:19 +00:00
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
8fd0f3761a DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter 2015-03-04 17:27:44 -05:00
Mathieu Labbe
c93460aadb GUI:fixed reversed source images/usb. CameraImages: added auto conversion of 4 channels images 2015-03-02 14:59:24 -05:00
Mathieu Labbé
2029033dbf fixed the yellow screen on start (where inliers=0 for the first frame) 2015-03-02 05:30:07 -05:00
Mathieu Labbe
ee7a5f591a GUI: updated Source menu check behavior, checking if "rtabmap.tmp.db" exists before deleting it (in case of another RTAB-Map is running in the same working directory) 2015-03-01 19:41:03 -05:00
matlabbe
cf69f17925 Added Source/Mirroring parameter for convenience 2015-02-28 18:09:22 -05:00
Mathieu Labbé
395dac5777 fixed windows compilation 2015-02-28 15:46:04 -05:00
Mathieu Labbe
1588b0b25c refactored DBDriver (fixed the TODOs) 2015-02-27 19:33:32 -05:00
Mathieu Labbe
7b08a56cb1 updated default layout 2015-02-27 16:00:13 -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
529248a227 fixed GraphView scene size to include the grid map too 2015-02-23 15:48:25 -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
647c709595 GUI: Disabling Post-Processing on Detecting and Monitoring states 2015-02-18 18:48:48 -05:00
Mathieu Labbe
6c6bc3635a GUI: updated messages when a new database should be saved on close (a cancel will not make the database closing, only Discard) 2015-02-18 18:22:59 -05:00
Mathieu Labbe
240b5ce9c6 GUI: Updated database file name message when closing a database 2015-02-18 13:52:49 -05:00
Mathieu Labbe
f708e7c040 GUI: GraphView's referential updated with odometry events 2015-02-17 17:53:44 -05:00
Mathieu Labbe
2f4acb9581 GUI: Core parameters should be explicitly saved 2015-02-13 16:50:32 -05:00
Mathieu Labbe
7c65dbf6bb Improved occupancy grid map construction performance 2015-02-11 17:03:46 -05:00
Mathieu Labbe
e3074d304c Added rtabmap::computePath() using a pose goal instead of node Id. Graph methods moved in rtabmap::graph namespace 2015-02-06 13:52:02 -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
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
d97ae60e6c CloudViewer: using QWidget::update() call instead of render directly the window 2015-01-30 17:02:02 -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
199d9a948a Minor text change... 2015-01-14 12:11:49 -05:00
Mathieu Labbe
645d2c4973 Saving ExportCloudsDialog and PostProcessing parameters to config file. 2015-01-14 11:02:17 -05:00
Mathieu Labbe
fb0b23ae06 saving CloudViewer settings (Camera,Trajectory,Grid) in the config file 2015-01-13 18:11:34 -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
Mathieu Labbe
cdb1e29d45 Fixed not working "Insert data in GUI cache" when disabled 2015-01-12 17:43:42 -05:00
Mathieu Labbe
cd3bd2948e fixed checked/unchecked actions of menu "Select Source..." 2015-01-12 16:53:18 -05:00
Mathieu Labbe
74d6f9c83d Fixed not unchecked Auto-Screenshot when cancelled 2015-01-12 15:39:33 -05:00
Mathieu Labbe
db382d6149 removed milliseconds from saved file name, fixed reset all settings of childrend of a groupbox which is also a prameter 2015-01-07 17:51:15 -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
879f86254e fixed corrupted exported mesh 2014-11-25 10:20:30 -05:00
matlabbe
08d0bc4ad5 MainWindow->start detection: fixed error msg on CameraOpenNI2::setExposure when exposure/gain parameters are not available 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2070 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-21 21:36:00 +00:00
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
57dec696cf fixed not uncompressed depth2D when restarting rtabmap with a prebuilt map for icp constraints 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2053 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-20 16:20:21 +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
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
0f7cc38688 Memory efficiency: changed std::vector<unsigned char> bytes arrays to cv::Mat to avoid multiple copies when Signature objects are copied. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1937 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 19:57:21 +00:00
matlabbe
eace13b7a8 GUI: Don't backup empty database... 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1936 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 14:13:53 +00:00
matlabbe
9ffd103e69 Removed trailing separator from working directory. Replaced all slashes by QDir::separator(). 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1935 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 05:00:10 +00:00