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
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 Labbé
2e706ed01f
fixed windows build
2015-04-24 13:56:16 -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
matlabbe
0e21be7f67
Added Kinect v2 calibration and registration
2015-04-10 17:36:13 -04:00
matlabbe
8ab867b802
Added RGB/IR calibration
2015-04-08 12:23:10 -04:00
Mathieu Labbé
3ed6a1b2f0
Version 0.8.9: added FlyCapture2 driver for bumblebee2 (tested only on Windows)
2015-04-07 12:00:10 -04:00
Mathieu Labbe
04b35b2adf
GUI: Added new Freenect2 and StereoDC1394 source options.
2015-04-06 00:28:04 -04:00
Mathieu Labbe
fee32c4e25
Added stereo option for the CalibrationDialog class
2015-04-05 16:42:41 -04:00
Mathieu Labbe
f2c8bd9e8d
CameraModel.h and CameraModel.cpp
2015-04-04 11:30:01 -04:00
Mathieu Labbe
786e846f65
Added CameraDC1394, CameraModel and StereoCameraModel classes
2015-04-04 11:29:14 -04:00
matlabbe
51131e9feb
Added CameraFreenect2 support for Kinect v2 (images are not yet registered)
2015-04-02 16:33:35 -04:00
Mathieu Labbe
653248bde8
Added some asserts to chaeck inf variances
2015-04-02 11:32:58 -04:00
Mathieu Labbe
f847bb9f9f
fixed TOROOptimizer::loadGraph(), added some assert to make usre that rotational and transitional variances are not null
2015-04-01 12:50:29 -04:00
Mathieu Labbe
6089a44589
Added PnP Pose estimation based Odometry option. Added sensor icons in menu.
2015-03-31 15:45:38 -04:00
Mathieu Labbe
d53f4d08ce
Added some empty cloud verifications
2015-03-27 17:19:21 -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
ad6ee69ac6
Grid map: added "erode" option
2015-03-20 14:03:09 -04:00
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
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
8fd0f3761a
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
Mathieu Labbe
f108c0753b
updated default OdomBow/NNDR and LccReextract/NNDR to 0.8
2015-03-02 05:49:43 -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
7b08a56cb1
updated default layout
2015-02-27 16:00:13 -05:00
Mathieu Labbe
721de2e76b
Database update (version 0.8.5): added Node.stamp and Node.label fields
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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
1d39db2bcc
Removed parameter "LccIcp/HighTransitionalVariance" (Identity covariance is set directly on pose correction and local loop closure detection in space)
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Covariance of virtual links added on the path is set to Identity. For those added to keep the path linked to current map, their covariance is set to 100.
DatabaseViewer: set fixed colors on constraints view
2015-02-25 17:06:52 -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
b785353b5e
Added a missing RTABMAP_EXP
2015-02-23 15:57:30 -05:00
Mathieu Labbe
38a4e8e4ee
Updated how locations are retrieved on a planned path or near based on space if no path is activated.
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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
cead1e00d4
Added parameter RGBD/GoalMaxDistance, fixed graph:computePath() warnings
2015-02-18 16:57:16 -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.
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Added new parameters: "RGBD/PlanWithNearNodesLinked" and "Mem/LocalSpaceLinksKeptInWM"
2015-02-17 17:30:47 -05:00
Mathieu Labbe
24155cdb7c
Local space selection: compare maxDiff with margins to current node instead of ids
2015-02-13 18:21:26 -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
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
f8b625c7c7
Added DBDriver::setTimestampUpdateEnabled()
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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.
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GUI: local path is shown in GraphViewer. Now handling stereo odometry data.
2015-02-03 11:09:10 -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.
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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
47045002a9
Added initial node to graph computed from A*
2015-01-26 17:20:43 -05:00
Mathieu Labbe
7a6bf630ca
Moved some util3d methods to Transform.h, Graph.h and Compression.h
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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
fdf7f69783
Added rtabmap-camera tool. Added Export button in Calibration dialog to
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save calibration to yaml file (same format as ROS).
2015-01-19 16:14:49 -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
