 matlabbe
|
a2b9c9f9a0
|
Updated rehearsal behavior when there are intermediate nodes and RGBD/LinearUpdate,RGBD/AngularUpdate are set.
|
2015-08-28 23:05:45 -04:00 |
|
|
matlabbe
|
12bd8a1720
|
Added special export poses for the KITTI dataset
|
2015-08-25 19:36:48 -04:00 |
|
|
matlabbe
|
0cf1ea8777
|
Moved some common include files to public headers folder
|
2015-08-25 10:32:27 -04:00 |
|
|
matlabbe
|
a88e8dd013
|
ICP correspondence ratio set to 0 when maximum laser scan count is not set
|
2015-08-05 20:16:27 -04:00 |
|
|
matlabbe
|
554b8978a0
|
Updated how RtabmapCmdEvent should be called (using UVariant). MainWindow: added new actions to export poses (KITTI, RGBD-SLAM and TORO formats)
|
2015-08-01 23:42:36 -04:00 |
|
|
matlabbe
|
2877a14360
|
Added CameraRGBDImages class (read RGB-D images from a folder)
|
2015-07-30 14:17:29 -04:00 |
|
|
matlabbe
|
185bc12cae
|
sending words too when getting map
|
2015-07-15 18:15:27 -04:00 |
|
|
Mathieu Labbé
|
2d7be6be48
|
modified how correspondences ratio is computed (icp 2D and 3D), also fixed build with OpenCV3+Cuda
|
2015-07-11 12:42:46 -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
|
b7faef35f1
|
Refactored motion estimation parameters in the GUI.
|
2015-06-27 01:43:29 -04:00 |
|
|
matlabbe
|
01f2f1348c
|
Added OdomBow/FixedLocalMapPath parameter
|
2015-06-25 16:04:42 -04:00 |
|
|
matlabbe
|
91a4506956
|
Small refactoring of the Bayes filter
|
2015-06-22 13:55:15 -04:00 |
|
|
matlabbe
|
a5efee20bc
|
Using Dijkstra for global planning for a significative performance boost (no need to optimize the graph before computing the path)
|
2015-06-21 18:29:12 -04:00 |
|
|
Mathieu Labbe
|
50eeda5b95
|
merged multicamera branch into devel branch
|
2015-06-16 17:41:51 -04:00 |
|
|
Mathieu Labbe
|
039ae45d57
|
merged master to multicamera branch
|
2015-06-16 13:37:33 -04:00 |
|
|
matlabbe
|
dfbf6e721e
|
Refactored OdometryOpticalFlow (added optical flow guess using previous odometry transform, merged stereo/depth stuff)
|
2015-06-15 14:44:44 -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 |
|
|
matlabbe
|
feba562c1b
|
Updated logged statistics
|
2015-06-08 10:53:56 -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
|
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
|
ec8946dc2f
|
Avoid filling node info stuff when getting the graph for optimization
|
2015-05-27 19:50:48 -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
|
8e26219e92
|
Fixed new map trigger from Identity odom when DetectionRate=0 and BufferSize=0. MainWindow: fixed overwritting database on close
|
2015-05-21 09:16:13 -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 |
|
|
Mathieu Labbe
|
b54ff8547e
|
Planning: abort plan when nearest pose on the path is not found, only keep the latest virtual link on the current path index
|
2015-05-12 13:29:00 -04:00 |
|
|
matlabbe
|
04bd596705
|
Planning update: remove virtual links up to current path index
|
2015-05-11 15:48:27 -04:00 |
|
|
matlabbe
|
7aaa4698d5
|
Added estimation loop closure hypothesis on small displacements, but only if the previous signature doesn't have a loop closure
|
2015-05-08 11:00:50 -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
|
0b5d6c84b1
|
Aborting path planned on "last node not found" error
|
2015-05-04 18:35:29 -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
|
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
|
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 |
|
|
matlabbe
|
262477f199
|
Fixed log highest hypothesis values
|
2015-04-10 22:20:15 -04:00 |
|
|
Mathieu Labbe
|
04b35b2adf
|
GUI: Added new Freenect2 and StereoDC1394 source options.
|
2015-04-06 00:28:04 -04:00 |
|
|
matlabbe
|
5ef3194786
|
fixed variance fatal error on loop closure detection only
|
2015-04-03 08:26:47 -04:00 |
|
|
Mathieu Labbé
|
37c34e8186
|
Fixed some warnings on VisualStudio2010
|
2015-04-01 10:38:59 -04:00 |
|
|
Mathieu Labbe
|
fb85434273
|
Fixed [DB error: no such column: pose]
|
2015-03-26 11:42:35 -04:00 |
|
|
Mathieu Labbe
|
19d6da9035
|
updated some events with user_data/stamp
|
2015-03-25 14:26:25 -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
|
10eee94e98
|
Rtabmap: reset all parameters to default on close()
|
2015-03-20 15:16:08 -04:00 |
|
|
Mathieu Labbe
|
b518edf6ce
|
updated some debug logs
|
2015-03-19 16:55:43 -04:00 |
|
|
Mathieu Labbe
|
9229c9887b
|
Init rtabmap: don't optimize graph on init
|
2015-03-19 16:13:06 -04:00 |
|
|
Mathieu Labbe
|
63f438876c
|
fixed a crash error on last commit
|
2015-03-16 18:36:45 -04:00 |
|