matlabbe
23bb5d5147
DBDriver: when an empty database url is provided, an empty database "in memory" is used by default. Tango: fixed second database not recorded in Data Recorder mode (now creating a new one on save). Mapping parameters are saved in database instead of the one used to record data (Data Recorder mode).
2016-11-23 15:13:09 -05:00
matlabbe
14908e3a11
rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded.
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Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
2016-11-21 17:09:04 -05:00
matlabbe
9276607920
Added Bundle Adjustment options to OdometryF2M (OdomF2M/BundleAdjustment) and RegistrationVis (Vis/BundleAdjustment). Added logger thread filter. RegistrationVis: Copy back corresponding input word IDs to output words when available. Memory::computeTransform() added option to use already computed corespondences if possible (proximity detection by time uses this). Updated Optimizer::optimizeBA() interface.
2016-11-14 19:54:31 -05:00
matlabbe
043e288d70
Fixed assert "((int)path.size() < = maxGraphDepth*2+1)" when Mem/ReduceGraph=On
2016-11-02 13:06:38 -04:00
matlabbe
94c25e2017
fixed #123
2016-10-11 13:06:16 -04:00
matlabbe
33501fdb0f
max optimization error checked on link with variance <=1 instead of <1 (to make it work also when TF odom is used, for which variance of 1 is set)
2016-10-03 17:11:20 -04:00
matlabbe
3530da935b
0.11.11: changed Statistics table name to Info and added new Statistics table containing detection statistics. StatisticsToolBox can cache statistics (true by default). DatabaseViewer: new Statistics panel to see all statistics contained in the database.
2016-09-20 11:19:34 -04:00
matlabbe
e5074afdeb
Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option
2016-09-02 22:37:12 -04:00
matlabbe
2fb71445da
Added warning when requesting a path before beeing localized
2016-08-31 12:43:54 -04:00
matlabbe
4d8200fef3
Added "RGBD/ProximityPathMaxNeighbors" parameter
2016-08-31 12:43:54 -04:00
matlabbe
013eba1d58
0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes.
2016-08-31 12:43:53 -04:00
matlabbe
ae7436a41b
Fixed bug where very long paths (over maxGraphDepth) were used for scan matching. Added "RGBD/ProximityMaxPaths" parameter (default 3) to limit the number of path comparisons for proximity detection.
2016-08-12 18:43:12 -04:00
matlabbe
ca6cd19fb1
Updated Copyright year and About dialog summary
2016-07-17 21:57:10 -04:00
matlabbe
711ff2692c
Updated default x-axis units of the figures with time stamps instead of IDs ( #48 ).
2016-07-17 19:58:32 -04:00
Mathieu Labbe
c24079884d
Reset stuck when moving toward the goal
2016-07-11 17:40:34 -04:00
matlabbe
38c3e3600d
Planning stuck detection updated: now using distance to goal
2016-07-11 17:16:11 -04:00
matlabbe
09795678ef
Merge branch 'master' of github.com:introlab/rtabmap into devel
2016-07-08 19:45:00 -04:00
matlabbe
b3207d6402
PLanning: Detect if the pose is reachable from the current node before looking for the nearest one
2016-07-08 19:44:44 -04:00
matlabbe
c6439cb1b7
Merge branch 'master' of github.com:introlab/rtabmap into devel
2016-07-08 19:23:05 -04:00
matlabbe
61f6e5ff79
Using fly distance instead of path distance to update the farthest goals
2016-07-08 19:22:48 -04:00
matlabbe
e90c97f8a4
ZED driver: added option to use visual odometry approach from zed sdk. RtabmapThread: fixed thread state change on new map trigger on Odometry init (variance=9999). Odometry: on init, verify that the first frame is ok before sending first pose. Parameters: Mem/SaveDepth16Format is now false by default
2016-06-24 18:49:34 -04:00
matlabbe
f2d48cb894
Fixed ICP-only registration with already provided guess (no need to do visual guess, as the guess can be already good)
2016-06-23 11:08:20 -04:00
matlabbe
be13a9b967
Fixed localization bug when virtual links are added
2016-05-26 17:28:06 -04:00
matlabbe
9f6af75f79
Local scan matching: set larger scan points for max scan points when it is not set. Fixed missing scan Ids in links' user data to correctly visualize proximity links by space in DatabaseViewer. CloudViewer: using line instead of arrow between the referential and the frustum. removed parameter "RGBD/ProximityPathScansMerged" as visual proximity by space already does that.
2016-05-20 11:44:50 -04:00
matlabbe
ff7406a755
Memory::computeTransform(): removed setting guess to identity if input guess is null
2016-05-19 17:01:46 -04:00
matlabbe
1ecaae364c
Generalized neighbor link refining using registration done in Memory (can be visual, visual+icp or, icp)
2016-05-19 15:35:30 -04:00
matlabbe
684e9fb8b9
0.11.4: API change: added minDepth parameter to cloudFromXXXXX() methods and removed voxel parameter
2016-04-12 15:14:04 -04:00
matlabbe
af405e69b1
Tango #57 : Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering
2016-04-04 13:03:43 -04:00
matlabbe
ff32f54aa8
Rtabmap::detectMoreLoopClosures(): use Memory::computeTransform() with signature parameters
2016-04-03 21:49:12 -04:00
matlabbe
5d9522c901
Tango #57 : Global optimization / Post-processing on pause
2016-04-03 21:35:30 -04:00
matlabbe
30777b630a
Fixed issue #10 (missing one iteration on rtabmap-console)
2016-03-29 13:07:32 -04:00
matlabbe
8030d89634
Implemented OptimizerG2O::optimimzeBA(). Updated PostProcessingDialog (g2o sba option). Fixed words descriptors not filled in rtabmap::getMap3D(). CameraModelD(): return 5 null coeff distorsions if not set
2016-03-28 18:19:17 -04:00
matlabbe
48644a17f0
Statistics: Updated "LocalLoop" to "Proximity"
2016-03-11 17:54:01 -05:00
matlabbe
0ae17ff17d
Added Parameters::parseArguments() and Parameters::showUsage() functions for convenience. Updated OdometryViewer and Console tools to use parseArguments().
2016-03-11 16:54:54 -05:00
matlabbe
cee9c65b06
Added image size to all camera calibration inputs. Memory::computeTransform() more fine tuning to know if data should be loaded from database.
2016-03-10 09:07:44 -05:00
matlabbe
eefd557ab4
Added parameter "RGBD/ProximityAngle"
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Updated default of GuessMotion parameters
Proximity detection by time: added guess transform based on optimized poses
RegistrationVis: ByPass OpticalFlow if no images are detected (use features matching instead if features are set)
solvePnPRansac() refining: using std dev instead of variance
Statistics panel: creating Camera/GUI/Odometry panels without the need to start detection (issue #51 )
Statistics: Adding a GT panel when ground truth poses are detected with RMSE info
2016-03-02 18:11:19 -05:00
matlabbe
e6e9c61c38
RegistraitonVis: generate always 3D keypoints if possible
2016-02-29 16:41:37 -05:00
matlabbe
9b16d93481
Fixed broken 2D icp from 0.11.0
2016-02-19 15:10:28 -05:00
matlabbe
04d153df59
Fixed export RGB-D SLAM format
2016-02-18 14:49:56 -05:00
matlabbe
6b8ab84ba0
Intermediate node fixes for ProximityTime and detecting more loop closures in the GUI
2016-02-18 12:52:15 -05:00
matlabbe
c1c62b0738
Creating a new map when variance >= 9999 is detected
2016-02-18 11:17:42 -05:00
matlabbe
c6a46a7238
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
matlabbe
2ae1b84f85
Fixed not optimized map from first node if we switch RGBD/OptimizeFromGraphEnd parameter on and off while mapping.
2016-01-14 12:44:18 -05:00
matlabbe
75f85f6b2a
Added new options to filter source laser scans.
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SensorData can support laser scans CV_32FC6 format (point cloud with normals). Refactored RegistrationICP and updated CloudViewer to show PointNormal data.
Fixed bug with stereo clouds deterioration if decimation is set (CameraModel::scale()).
2016-01-08 19:15:49 -05:00
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
6d399b6fb9
Refactoring Odometry
2016-01-07 13:59:21 -05:00
matlabbe
28d9bbb85d
Refactoring Registration: added RegistrationInfo class, pipeline registration. Camera source: create laser scan from depth image. Removed OdometryICP as the same behavior can be achieved with OdometryF2F and "Reg/Strategy" = 1 (ICP) or 2 (Vis+ICP).
2016-01-06 17:26:55 -05:00
matlabbe
9b6d662aaf
Rtabmap::parseParameters(): Re-using old parameters (if not updated) when graph optimization approach is re-created.
2016-01-04 11:48:48 -05:00
matlabbe
b578fc732e
Fixed Stereo parameters not used for OdometryBOW. Saving parameters in Memory and Feature2D to re-use old parameters when underlaying algorithm strategies are re-created.
2016-01-04 11:41:13 -05:00
matlabbe
2e9634cf65
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
...
Added Feature2D::generateKeypoints3D() for convenience.
Added parameter "Vis/PnPOpenCV2".
Added parameter "Vis/ForwardEstOnly".
Removed OdometryOpticalFlow class, replaced by OdometryF2F (frame-to-frame). To get the same previous OpticalFLow approach, parameter "Vis/CorType" should be set to 1.
Some parameters under group "OdomFlow/..." are now under "Vis/CorFlow...".
In Registration class, add computeTransformationMod() method to modify input signatures.
Added constructor Signature(SensorData) for convenience.
Modified words multimap used with cv::Point3f instead of pcl::PointXYZ to limit the use of PCL headers where they are not really required.
Added Stereo::create() for convenience.
Transform: fixed quaternion constructor where data_ was not initialized. Added parentheses operator for convenience.
DatabaseViewer: loading .rtabmap/rtabmap.ini instead of .rtabmap/dbViewer.ini when used from rtabmap application. Added vertical layout option for convenience.
MainWindow: fixed wrong Odometry speed values
ParametersToolBox: using QStackedWidget instead of a QToolBox for space, added "Restore Defaults" button.
2015-12-21 17:27:05 -05:00
matlabbe