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151 Commits

Author SHA1 Message Date
matlabbe
22e3082adc Increased version to 0.6.2 
Memory management tested on RGBD SLAM
Fixed some crashes
New parameter RGBD/LocalLoopDetectionMaxDiffID
New parameter LccIcp2/VoxelSize
Updated parameter LccIcp/Type (added "No ICP" type)
Updated parameter kLccBowMinInliers (inliers minimum reduced to 1)
TORO optimization: The graph root is explicitly defined as the last node added (fixed a TORO crash when a root could not be found)
TORO optimization: only one constraint between neighbors and loop closures
TORO optimization: added initial tree guess
Map correction/Map transform: now only used in localization mode (map correction is always identity on mapping mode)
New statistics: local loop space diff, last loop closure parent and child ids
Database: Fixed empty signatures with no poses loaded
ICP: fixed transform multiplication order
Dump memory: added 3D words
DatabaseViewer: added Export option (added ExportDialog object)
DataRecorder: Option recording in RAM or Hard drive
GUI: added a dock widget (MapVisibilityWidget) to change visibility of nodes in the 3D map
GUI: fixed progress bar step count when generating the map
Menu option: generate TORO graph (full/current map, optimized/not optimized)
Menu option: download map (full/current map, optimized/not optimized)
Preferences: added Reset all settings button
Preferences: A QGroupBox can be a boolean parameter

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1066 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-22 19:49:28 +00:00
matlabbe
b8c6014ed2 Added badSignaturesIgnored parameter, set to false will keep bad images in memory and in the map's graph (useful on RGBD-SLAM with TORO optimizations to propagate more equally errors to nodes with blank images) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1063 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-15 20:41:58 +00:00
matlabbe
11eed189c9 Retrieved data are now included in the rtabmap info message 
Map transform is only defined with the last loop closure for localization mode: on loop closure between two maps, there is only a TORO link added between the locations (no need to keep the transform between the maps) 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1058 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-08 16:11:00 +00:00
matlabbe
1c3f78f2d6 fixed Win32 build (VS2010) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1050 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-12 22:36:56 +00:00
matlabbe
8b8511e154 Merged pcl_integration branch to trunk 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-11 00:12:44 +00:00
matlabbe
97c70d394e core: added rtabmap::deleteLocation(id) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@920 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-08-20 20:37:24 +00:00
matlabbe
6c656e7c57 rtabmap: localization mode (run under fixed memory and fixed dictionary), optional retrieving of the last extracted words when calling rtabmap.process() (useful when in localization mode where the last location is deleted after the rtabmap process) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@882 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-06-10 18:54:11 +00:00
matlabbe
504e51db12 RTAB-Map : added localLoopClosureId for VSLAM use... 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@877 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-06-05 19:25:16 +00:00
matlabbe
b92d0444ac Included UtiLite library directly in Rtabmap source (to simplify the installation) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@855 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-04-30 20:16:01 +00:00
matlabbe
ff6e6f84c5 rtabmap: Added parameter to disable logs of the statistics 
rtabmap: Added parameter to avoid saving to database nodes/words of rehearsed nodes

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@834 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-03-02 21:53:47 +00:00
matlabbe
3d05294663 rtabmap: deleteLastLocation now delete the location instead of saving it in database 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@831 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-02-17 22:27:31 +00:00
matlabbe
00ac36747e rtabmap: removed all UtiLite include references for main RTAB-Map classes (to avoid linking to UtiLite when using RTAB-Map as c++ library) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@811 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-02-04 16:38:00 +00:00
matlabbe
e8e75a9d40 Rtabmap: Refactoring... removed all threading/events related stuff from Rtabmap object to RtabmapThread object (a thread wrapper of the rtabmap object) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@803 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-02-03 22:12:02 +00:00
matlabbe
916bafeba1 DbDriver: removed not used KillCleanup method 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@801 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-02-01 19:50:13 +00:00
matlabbe
f73983afd2 rtabmap: added rejectLastLoopClosure() method, for convenience if a validation is done outside RTAB-Map and to reject loop closure detected by RTAB-Map. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@782 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-29 15:48:36 +00:00
matlabbe
1b7c995ea0 Fixed default nearest neighbor approach for the dictionary when the parameter is not set. 
rtabmap_gui parameters panel can be opened without rtabmap parameters set on ROS (only GUI parameters can be changed).
Rtabmap: added getStatistics() method for convenience
Rtabmap/Memory: added deleteLastLocation() method to remove the last location in the STM.
 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@779 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-28 18:13:56 +00:00
matlabbe
a4ccd6acd6 rtabmap: added parameter to keep the old id or to update to new id when merging on rehearsal 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@758 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-27 04:50:49 +00:00
matlabbe
635dd9c177 Added Rtabmap::getNeighbors() method for convenience. Fixed lost of db parameters when resetting memory when memory has not changed. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@754 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-25 21:05:20 +00:00
matlabbe
0c1b8d7349 Added image sequence to rtabmap::Image class 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@740 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-21 18:55:25 +00:00
matlabbe
1041ddd8a5 Protected public rtabmap methods with a mutex (to be safe to call when rtabmap thread is started) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@734 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-15 16:43:40 +00:00
matlabbe
0452aec181 rtabmap: setup working directory and deleting memory is done in init() instead of the Rtabmap constructor. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@731 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-13 19:59:53 +00:00
matlabbe
ec4c0522e7 Generating Graph in the c++ example 
Added png of the generated graph in doc

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@707 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-10 21:55:57 +00:00
matlabbe
b032699860 Making Rtabmap interface easier to use from c++ (Update c++ example usage) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@695 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-10 20:29:01 +00:00
matlabbe
0f4e24233c Added c++ example usage 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@694 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-10 16:28:12 +00:00
matlabbe
bb2fbc67e0 Fixed saving/loading dictionary (not loaded words) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@676 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-12-12 16:40:18 +00:00
matlabbe
1efc675521 Added PrintLoopClosureIDs action to Edit menu 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@664 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-12-11 19:41:44 +00:00
matlabbe
2836d4c48c merged attention branch to trunk 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@657 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-12-11 18:05:05 +00:00
matlabbe
c2008a448c Camera: added some getters and protected image size modification 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@574 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-06-26 19:23:43 +00:00
matlabbe
17b8e10ed8 Merged Audio branch to trunk 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@560 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-06-24 17:19:34 +00:00
matlabbe
a2eb8bcab6 MERGE branch STM 325:449 into trunk 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@450 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-03-03 01:46:30 +00:00
matlabbe
4a3317dd06 Removed DisableReactivation parameter (indirectly included by the RetrievalThr when = to 1) 
Some default parameters' values modified for robot learning

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@316 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-09-16 17:37:54 +00:00
matlabbe
176ca33e27 Updated CameraDatabase : loading also the associated actions with image loaded 
Memory : Saving neighbors of looped locations (for a trace in DB)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@313 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-08-25 20:22:50 +00:00
matlabbe
2b06480278 Parameter SensorStateOnly : set default to true (actions not used for nearest neighbor) 
Plot : set addLine input to 4 decimals (was 2)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@312 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-08-25 15:17:10 +00:00
matlabbe
d75bbb130c Added confidence threshold parameter 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@310 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-08-24 17:27:14 +00:00
matlabbe
73a2d589ab Added statistics : Rehearsal value, retrieval margin 
Updated the way how the retrieval margin is increased/reset
Posterior ignoring the last added location to WM
Auto save figure, removed the "-" in the generated date name


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@294 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-07-18 17:59:57 +00:00
matlabbe
f7cf230c87 Added screenshots for ProcessADataSet tutorial. 
Updated default parameter "RawDataKept" in database to true.
Fixed a bug of showing rejected loop closure image in GUI when RawDataKept=false and the loop closure id is not set (only highestHypothesisId when the loop is rejected).

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@211 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-21 18:32:23 +00:00
matlabbe
fb48cce623 Updated version to 0.3. Now when deleting the memory, RTAB-Map reset the log files at the same time. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@209 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-21 17:19:45 +00:00
matlabbe
8939ac9b2e Select next actions based on posterior values (highest neighbor's hypothesis is selected) 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@105 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-14 13:40:15 +00:00
matlabbe
e2cad72bd0 Added sensorStateOnly parameter : dont use the actuator values in the SM state if true 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@99 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-13 18:29:21 +00:00
matlabbe
196dc01a57 Fixed the adding of neighbor's actions when adding a loop closure link 
Fixed loading config file with the ros gui_node (switch between rosparam and a config file )

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@97 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-10 19:56:07 +00:00
matlabbe
25c2a9f07e -Refactored HypVerification classes (added verification by signatures' similarity), there is no more complicated rejectedHypReason, now it's only true if valide or false if verification fails... 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@86 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-09 02:56:31 +00:00
matlabbe
c59d461c81 Added parameter actionsSentRejectedHyp (actions also sent on rejected hypotheses or decreasing hyp), default false 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@85 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-08 20:19:37 +00:00
matlabbe
edf8bbb735 Added parameter selection of actionsByTime or not (default true) 
Now if parameter databaseCleaned is false, "all" signatures are saved, otherwise, only those with no parent loop closure


git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@84 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-08 20:00:14 +00:00
matlabbe
bc3f5f2ba2 minor refactoring... 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@78 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-08 13:34:39 +00:00
matlabbe
a0576be506 Changed SMState interface (how the ownership of the image is transferred) 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@70 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-07 19:15:27 +00:00
matlabbe
4ceeb78c8b reverted rawImageSizeCaptured parameter... (because OpenCV has already a default so native image over 640x480 cannot be extracted) 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@68 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-07 15:42:41 +00:00
matlabbe
b4446c3ddd rawImageSizeCaptured camera handling 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@67 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-07 15:17:45 +00:00
matlabbe
450aef86f7 Added rawImageSizeCaptured parameter for Usb source device 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@63 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-07 15:01:39 +00:00
matlabbe
147bee0e63 Fixed actions saved in db 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@59 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-06 05:12:27 +00:00
matlabbe
6fccc56e7a minor changes... 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@57 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-05 21:10:49 +00:00