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920 Commits 29 Branches 163 Tags
c6a46a72383d36c73656ec03df1db0ba9b69ece7
Commit Graph

581 Commits

Author SHA1 Message Date
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
Mathieu Labbe
b1827aeb89 DatabaseViewer: added graph depth param. Rtabmap: when the robot is not moving, now deleting location "after" retrieval 2015-03-16 18:22:54 -04:00
Mathieu Labbe
49883a67e7 fixed a graph optimization startup crash when a database is already created 2015-03-16 15:38:57 -04:00
Mathieu Labbe
b9628b0447 Fixed some unused variable warnings in toro3d files 2015-03-12 17:17:20 -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
db53cec63a Fixed a bug on Bayes prediction generation (duplicated margins) 2015-03-09 18:57:29 -04:00
matlabbe
0a7326bf97 fixed deleting log files when a new database is created 2015-03-09 16:03:46 -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
49fcf732af removing query from poses returned from Graph::getNodesInRadius() 2015-03-09 11:58:06 -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
64fc7a05ae TriggerNewMap: move all locations of STM in WM 2015-03-05 17:06:17 -05:00
Mathieu Labbe
c221461d99 Memory init: load all signatures in WM (instead of STM and WM) 2015-03-05 16:53:00 -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
c93460aadb GUI:fixed reversed source images/usb. CameraImages: added auto conversion of 4 channels images 2015-03-02 14:59:24 -05:00
Mathieu Labbe
f108c0753b updated default OdomBow/NNDR and LccReextract/NNDR to 0.8 2015-03-02 05:49:43 -05:00
Mathieu Labbe
34f4b3132d fixed crash when setting label to new map, fixed assert "Signature %d should not be used when transferred to trashgit add corelib/*git add corelib/*" 2015-03-01 18:00:08 -05:00
Mathieu Labbe
19a7ff9552 shorten a warning msg 2015-03-01 16:04:10 -05:00
Mathieu Labbe
d3a2c62b45 Fixed bug where all global loop closures were rejected when LoopRatio was set 2015-03-01 15:51:04 -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
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
1d39db2bcc Removed parameter "LccIcp/HighTransitionalVariance" (Identity covariance is set directly on pose correction and local loop closure detection in space) 
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
58f557309e increased map marging to 10*cellSize to make sure all poses are in the map 2015-02-23 16:09:02 -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. 
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. 
Added new parameters: "RGBD/PlanWithNearNodesLinked" and "Mem/LocalSpaceLinksKeptInWM"
 2015-02-17 17:30:47 -05:00
Mathieu Labbe
c8028c91ac minor refactoring 2015-02-16 16:13:44 -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
cff869ad03 accepting plan of only 1 node 2015-02-06 16:44:38 -05:00
Mathieu Labbe
695b7005d0 minor fix 2015-02-06 16:01:49 -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
09625b766e added some debug infos 2015-02-03 17:20:17 -05:00
Mathieu Labbe
b2e5b7fbfc check if same node before adding virtual link 2015-02-03 14:11:57 -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
2cc34cbe7e fixed a not retrieved signatures bug 2015-01-27 16:57:07 -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 
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