matlabbe
3292fb1146
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
...
Added graph::importPoses().
Can now have a ground truth published with SensorData (filled optionally by CameraImages classes).
Increased database closing time performance when the database is not saved.
Added ParametersToolBox widget in DatabaseViewer for core parameters (refactoring done to make easy access to all rtabmap parameters in DatabaseViewer).
Added Parameters::getType(key).
Added Transform::interpolate() to interpolate between two transforms (SLERP)
Updated pf_filter.m and added test_pf_filter.m MATLAB scripts (making easier to compare with a ground truth)
UPlot: can now save all curve data of a figure in one action (see right-click on legend area->"Copy all curve data to clipboard")
2015-12-17 14:13:19 -05:00
matlabbe
818eda005f
merged master to 0.11.0
2015-12-02 11:55:46 -05:00
matlabbe
60f34fe994
Rejecting last loop closures if optimization fails. Fixed _lastLocalizationNodeId not found in optimized poses in Localization mode.
2015-12-01 14:51:26 -05:00
matlabbe
4d97ba80d6
Don't trigger new map in localization mode when identity odom is detected
2015-12-01 12:34:34 -05:00
matlabbe
fc47d07b85
merged master to 0.11.0
2015-11-30 19:39:05 -05:00
matlabbe
096684ed94
Neighbor link refining: set small variance if small displacement and variance=1
2015-11-27 13:04:01 -05:00
matlabbe
7d35906398
Refactoring: Split all graph optimization approaches in multiple files
2015-11-27 11:09:39 -05:00
matlabbe
93326ab1fe
Refactoring: changed Statistics name "OdometryCorrection" to "NeighborLinkRefining"
2015-11-26 16:22:46 -05:00
matlabbe
148504dabd
Fixed Memory::computeScanMatchingTransform() (now named computeIcpTransformMulti())
2015-11-26 16:03:03 -05:00
matlabbe
ba6733411a
merged master to velodyne
2015-11-26 13:37:37 -05:00
matlabbe
7d521819f0
moved Rtabmap::[read,write]Parameters() and getVersion() to Parameters class (readINI(), writeINI() and getVersion()). Added Parameters::getDefaultOdometryParameters() and Parameters::isFeatureParameter() for convenience.
2015-11-26 13:16:01 -05:00
matlabbe
cd39a8c027
0.10.12: Added rtabmap::getLastLocalizationPose() method (to get last corrected pose either in mapping or localization mode)
2015-11-25 15:45:27 -05:00
matlabbe
da1129cf79
Refactoring of some parameters (LocalLoopDetection* to Proximity*) and variables in code
2015-11-25 12:15:41 -05:00
matlabbe
56383d4cfb
Merged master to velodyne
2015-11-22 18:15:33 -05:00
matlabbe
ae9f21acd7
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
matlabbe
10d683a38e
Graph optimization: fixed stop error criterion for g2o and gtsam, previous optimized poses are now used as guess for the optimized graph
2015-11-18 19:40:46 -05:00
matlabbe
0dedc62ce8
Disabled local loop detection on intermediate nodes
2015-11-09 11:46:30 -05:00
matlabbe
620ce51f70
Fixed warnings on Windows
2015-11-03 12:49:03 -05:00
matlabbe
47d98b2912
GUI: GFTT quality min is now 0.0001, fixed fatal error when LocalLoopDetectionSpace=True and not RGB-D SLAM mode
2015-10-28 18:48:17 -04:00
matlabbe
02ebb3c7e8
Some fixes:
...
-Memory: Fixed wrongly rejected scan matching transform because of too large correction
-DBViewer: Fixed not shown proximity scans
-DBDriver: Fixed not loaded links' user_data on getAllLinks() method
-MainWindow: Added planning statistics
-DBReader: set a maximum of 10 sec sleep if the map ID has changed
2015-10-26 12:59:20 -04:00
matlabbe
463a5d973c
Update version 0.10.11:
...
-Added parameter "Mem/ReduceGraph" with new link type (NeighborMerged)
-DatabaseViewer: add Info panel, fixed empty extracted database when "RGB images" is not checked
-ConsoleWidget: added buffer size and refresh rate options
-DBDriver: new database info getters
-Graph: added reduceGraph() method, added Dijsktra computePath() with links only
-Updated default parameters: RGBD/LocalLoopDetectionSpace=true, RGBD/LinearUpdate=0.1 and RGBD/AngularUpdate=0.1
-Goals are saved with label instead of ID if the target node has a label
-DataRecorder: fixed saving incrementally the database (instead of only at the end)
-MainWindow: When waypoints are used, resend the current goal (1 sec delay) if it has failed setting it
2015-10-24 17:03:44 -04:00
matlabbe
1f33c39f3c
Updated for issue #36 : Moved "Export Poses..." to File menu, added "Export images..." action too, updated when some export actions are enabled or disabled
2015-10-16 20:11:24 -04:00
matlabbe
5f488ed269
Added Memory/Distance_travelled/m to Statistics
2015-10-13 16:57:02 -04:00
matlabbe
88a3f425c1
Added RGBD/ScanMatchingIdsSavedInLinks parameter
2015-10-13 16:06:19 -04:00
matlabbe
988e83cf1c
Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label.
2015-10-13 12:50:25 -04:00
matlabbe
b8757f6e8b
Don't optimize the graph on localization (just update last pose) if there are no retrieved signatures and the loop closure is on a node already in the optimized graph
2015-10-07 11:38:31 -04:00
matlabbe
fbf967066a
Added LccBow/VarianceFromInliersCount parameter (linked with Odom/VarianceFromInliersCount in standalone gui)
2015-10-02 10:40:18 -04:00
matlabbe
0c8309bb28
Memory: Fixed all recent memory immunized when lastGlobalLoopClosure is 0. Notify plan failed (instead of success) when the target node id is not found.
2015-09-30 11:36:49 -04:00
matlabbe
fccaa11de1
Localization mode: fixed errors when planning, fixed localization from last node, fixed localization flickers when memory management is running
2015-09-29 23:48:05 -04:00
matlabbe
7ea730bb0a
planning: fixed a bug making the last pose published again even after stuck detected
2015-09-27 12:01:02 -04:00
matlabbe
88e67f047a
Version 0.10.9: added RGBD/PlanStuckIterations parameter (default 0) to detect when a node in the planned path is unreachable
2015-09-23 18:15:34 -04:00
matlabbe
fb69f770f9
Updated when computePath(...) returns true or false
2015-09-23 12:11:18 -04:00
matlabbe
007c192b6a
Create2DMap: eroding only on cells having at least 3 empty neighbor cells
2015-09-16 17:12:01 -04:00
matlabbe
d7e6a2c0e8
Updated computePath(pose) to avoid links pointing to nodes not in WM
2015-09-15 18:17:38 -04:00
matlabbe
16d998f3b0
GraphOptimizerGTSAM: Fixed not returned poses when there is only one
2015-09-15 16:36:28 -04:00
matlabbe
53fa85e38a
fixed reset UPlot on rehearsal after small movement detected. GUI: modified color for pose correction (DarkCyan) and small movement (Gray)
2015-09-14 11:31:26 -04:00
matlabbe
e290dfc111
Fixed pose scan matching drift (with OptimizeFromGraphEnd=true)
2015-09-14 09:40:28 -04:00
matlabbe
91d87ec6a8
fixed null variance assert on local loop closures in Time/Space
2015-09-09 22:31:02 -04:00
matlabbe
e3161c3b04
Fixed vector out of bound error (findNN() matchesNotIndexed vector). Fixed error "map correction should be identity" when small displacement detected before scan matching
2015-09-09 20:11:18 -04:00
matlabbe
beab2271f0
Added statistics for incremental flann index size
2015-09-09 12:08:51 -04:00
matlabbe
5dcbb66a6d
Fixed FATAL error for link variance == 0 on loop closure of two identical images
2015-09-08 23:18:12 -04:00
matlabbe
198899ba32
Added parameter "RGBD/OptimizeMaxError" (default: 1 m) to reject loop closures after too large optimization errors
2015-09-03 12:37:14 -04:00
matlabbe
7a721105ae
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
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
matlabbe