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56 Commits
Author SHA1 Message Date
matlabbe 0192cac18a updated recovery tool to support databases without image data kept 2019-01-28 16:11:05 -05:00
matlabbe 299bec15ff DBReader: publish global pose if prior link is detected, negative image rate means now a ratio of the database stamps 2018-10-24 09:26:41 +12:00
matlabbe 8e99291e13 0.18: Camera calibration and LaserScan Info refactoring (#324) 
* Saving full camera calibration in database, added angle min/max/inc to LaserScan.

* Updated laserscan info save/load in db

* Database: added Tag table, added env_sensors field to Node

* fixed serialization/deserialization of stereo camera model

* fixed multi-calibration db saving

* fixed rebase errors

* Tango: Added saving environmental sensors option

* Memory: Save env sensors

* Tango: fixed env sensor ids

* DBViewer: show env sensors values

* DBViewer: added calibration details on tooltip

* increased package version to 0.18.0

* Fixed LaserScan copies when angleIncrement is valid

* fixed build error without OctoMap dependency
 2018-10-23 14:35:14 -04:00
matlabbe f1546c1fca Replaced all optimizeIncremental() by optimizeMultiSession() to fix GTSAM errors when merging multiple maps together. DBReader: always publish saved stamp. DBViewer: added actions to set covariance of all neighbor or loop closure links. 2018-10-15 17:07:18 -04:00
matlabbe c105804572 Moved DBDriverSqlite3.h to installed headers (changed some members from private to protected for easier inheritance) 2018-08-27 16:54:23 -04:00
matlabbe d24097f73d 0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...) 2018-02-16 19:20:54 -05:00
matlabbe d776092b35 RtabmapThread: when receiving new map event from odometry, wait until the buffer has reached the corresponding timestamp before triggering a new map. DBReader: regenerate stamps when sync capture rate with stamps in database is false. MainWindow: ask for PNG or JPEG format when activating auto capture. 2017-12-11 17:09:04 -05:00
matlabbe 1220eab47a Added RGBD/LinearSpeedUpdate and RGBD/AngularSpeedUpdate parameters 2017-09-28 13:34:55 -04:00
matlabbe 9691a4f361 Added GPS class for convenience, database viewer can view GPS values and export to KML format 2017-09-26 14:13:06 -04:00
matlabbe bfc393a090 0.14: added gps field to Node table in database (#226). Tango: saving gps if enabled, added Rename/Remove/Share on long click in Open dialog (fixed #233) 2017-09-21 20:59:45 -04:00
matlabbe 104c1e6945 0.13.0 Database: Added velocity field to Node table, renamed Map_Node_Word table to Feature, added information_matrix field to Link table (replacing rot_variance and trans_variance). Added graph::calcKittiSequenceErrors().Added "Mem/IntermediateNodeDataKept" parameter (default false). Updated all interfaces using rotVariance and transVariance values with covariance matrix instead. g2o SBA: always use covariance in links. kitti-dataset tool: added --disp option and kitti statistics are shown at the end. StatsToolBox: units can have "/". 2017-05-11 15:02:18 -04:00
matlabbe 1b71a96a3d Added rtabmap-kitti_dataset tool 2017-04-24 12:17:18 -04:00
matlabbe af1cdadabd Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph. 2017-02-15 19:07:10 -05:00
matlabbe 819db9538f Ask to set detection rate to 0 when selecting a source database. DBReader: set 9999 covariance for the first odom pose of a database. 2017-01-29 18:24:10 -05:00
matlabbe d2287ab9f4 Backward compatibility (DBViewer, DBReader) with old database format not saving CameraModel's image size, cx and cy 2016-12-02 13:43:44 -05:00
matlabbe 0848b03127 DBReader: set calibrated to true if database is empty (avoiding not calibrated warning) 2016-09-03 14:45:10 -04:00
matlabbe ca6cd19fb1 Updated Copyright year and About dialog summary 2016-07-17 21:57:10 -04:00
matlabbe 0ec39e3c77 DBReader now inherits from Camera (so that CameraThread's post processing stuff can be used with a database stream) 2016-06-21 11:22:24 -04:00
matlabbe cdddb1209e DBReader: added camera selection 2016-06-20 10:50:01 -04:00
matlabbe e7565db5d0 0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present). 2016-01-07 19:39:21 -05:00
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 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 afaf6509f7 DBReader: copy stamps in odom messages 2015-10-07 19:38:33 -04:00
matlabbe 7c85f11fbb fixed goal events sent by DBReader 2015-09-09 21:09:51 -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 6df403ed42 Refactored Camera classes and Preferences->Source menu 2015-06-26 18:21:32 -04:00
Mathieu Labbe 9e13642a47 fixed runtime errors for single depth camera and stereo 2015-05-30 20:05:35 -04:00
Mathieu Labbe c5046df226 merged master to multicamera branch 2015-05-29 14:54:49 -04:00
Mathieu Labbe c6d0d47b1c Added multi-camera feature 2015-05-29 14:46:48 -04:00
matlabbe ece3915b10 fixed colored loop closure detection rect when no images are in GUI cache. Modified some logged info. 2015-05-27 19:02:27 -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 Labbe 711c8e1124 Fixed maximum features ignored (always set to 400) 2015-04-29 00:02:10 -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 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 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 0c55d30f76 Added Memory::getAllLabels(), added labels to statistics and added DBDriver::getNodeInfo() 2015-03-06 16:14:09 -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 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 05ee9a7b84 fixed odometry "empty image?" error when reading from database with 
stereo images, fixed databaseViewer fatal error when there are null
poses
 2015-01-08 16:12:45 -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 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 b56e03b463 -Updated File menu with new actions "New database...", "Open database", "Close database" and "Edit database". Each new session will be automatically saved when closing the database. The "play" action cannot be activated until a new database is created or a previous session database is opened. 
-  Memory usage reviewed for the GUI: we don't uncompress data for downloaded nodes from "Download all clouds" action.
- Odometry: added optional argument "initialPose" to reset() method

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1930 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 01:20:57 +00:00
matlabbe ebeb116c0d added new statistics (features extracted current image, local map size) shown in GUI for Odometry 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1719 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-25 15:04:35 +00:00
matlabbe e460cb592f Refactoring: Renamed rtabmap::Image to rtabmap::SensorData 
removed keypoints and descriptors stuff from CameraEvent and Image/SensorData
removed keypoints3 from Image/SensorData

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1653 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-18 23:14:04 +00:00
matlabbe 29097c023e Changed license to BSD 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1633 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-11 17:00:55 +00:00
matlabbe f090c81aaf Added CalibrationDialog in Preferences->source for convenience. The database is also changed to handle new FX, FY, CX and CY intrinsic parameters instead of only depthConstant parameter. Added version of the database in a new table Admin. Updated to version 0.7.0. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1613 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-26 04:36:00 +00:00
matlabbe ad04fed7e6 Added Database recorder menu option 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1433 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-23 00:26:14 +00:00