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Commit Graph
398 Commits
Author SHA1 Message Date
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 5934ec90db DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases 2015-10-16 14:54:47 -04:00
matlabbe b8382fe5bd Added/Removed some debug info 2015-10-14 14:40:18 -04:00
matlabbe 9bd649009c Improved DatabaseViewer memory usage (by not keeping uncompressed data in cache) 2015-10-14 11:02:36 -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 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 55834644cf Increased database version to 0.10.7: added scan_max_range column. Create2DMap: updated unknown cells filling depending on max laser scan range. Added util3d::frustumFiltering() to filter points in a specified frustum. 2015-09-17 22:55:45 -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 cc5065eff0 Memory::getNeighborId() load only neighbor links from db when loop links are not required 2015-09-11 16:53:17 -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 ce2bbd8feb CameraThread: Added stereo to depth option. Added parameter "Mem/SaveDepth16Format". 2015-08-27 17:16:12 -04:00
matlabbe 0cf1ea8777 Moved some common include files to public headers folder 2015-08-25 10:32:27 -04:00
matlabbe 0350e475b2 ICP: when max laser scan max pts is not set, use relative correspondence ratio (backward compatibility) 2015-08-05 20:32:33 -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 b686103765 using map instead of multimap for motion estimation methods (only unique words were used) 2015-07-28 23:48:50 -04:00
matlabbe d67500d7bf DBDriver: added getDatabaseVersion() method 2015-07-26 17:45:48 -04:00
matlabbe 185bc12cae sending words too when getting map 2015-07-15 18:15:27 -04:00
matlabbe 82ef6231c4 fixed deleted nodes in localization to be not saved in database 2015-07-15 17:43:08 -04:00
Mathieu Labbé 2d7be6be48 modified how correspondences ratio is computed (icp 2D and 3D), also fixed build with OpenCV3+Cuda 2015-07-11 12:42:46 -04:00
Mathieu Labbé dc48b4d4f4 some fixes for CameraFlyCapture2 driver on Windows, fixed OdometryMono with stereo cameras 2015-07-06 17:25:38 -04:00
matlabbe 4f96fd3530 Version 0.10.1: user_data is now a cv::Mat to avoid a deep copy when SensorData is copied 2015-06-28 19:22:18 -04:00
matlabbe b7faef35f1 Refactored motion estimation parameters in the GUI. 2015-06-27 01:43:29 -04:00
matlabbe e5447be23a Refactored 3DTo2D and 3DTo3D motion estimations (Memory and OdometryBOW are now using the same methods) 2015-06-27 00:08:52 -04:00
matlabbe 01f2f1348c Added OdomBow/FixedLocalMapPath parameter 2015-06-25 16:04:42 -04:00
matlabbe a5efee20bc Using Dijkstra for global planning for a significative performance boost (no need to optimize the graph before computing the path) 2015-06-21 18:29:12 -04:00
matlabbe b0a20abd66 Merge branch 'master' of https://github.com/introlab/rtabmap into devel 2015-06-18 23:04:14 -04:00
matlabbe 6fe1e42181 Added OpenCV 3 support 2015-06-18 23:00:46 -04:00
matlabbe 82943e85e8 Fixed PnP camera matrix empty when computing loop closure. Updated odometry nonholomic motion estimation (using arc around ICR). 2015-06-18 01:24:19 -04:00
Mathieu Labbe 50eeda5b95 merged multicamera branch into devel branch 2015-06-16 17:41:51 -04:00
matlabbe b8dccc2228 Added CameraStereoImages class to read stereo images from a directory. Added a particle filter to smooth odometry trajectory. Added parameter RGBD/OptimizeEpsilon to limit TORO iterations when error improvement is small. Added Rtabmap/CreateIntermediateNodes parameter: this can be used to keep all odometry poses 'between' nodes used for loop closure detection. Added PnP approach to loop closure constraint estimation. Fixed decimation of stereo images when image size is odd. 2015-06-11 16:57:16 -04:00
Mathieu Labbe 7d72aa83bc fixed sensor data not loaded on 0.10.0 database version 2015-06-06 19:20:38 -04:00
Mathieu Labbe bd9fb1027b Added util3d::laserScanFomrDepthImage() and some refactoring 2015-05-31 01:26:57 -04:00
Mathieu Labbe 9e13642a47 fixed runtime errors for single depth camera and stereo 2015-05-30 20:05:35 -04:00
Mathieu Labbe c6d0d47b1c Added multi-camera feature 2015-05-29 14:46:48 -04:00
Mathieu Labbe 9fde57843f Increased version to 0.9.0. Refactoring: Split util3d.h into multiple files util3d_****.h to reduce compilation time. Also removed all PCL templates to reduce memory used while compiling. 2015-05-13 19:54:23 -04:00
matlabbe 04bd596705 Planning update: remove virtual links up to current path index 2015-05-11 15:48:27 -04:00
Mathieu Labbe 4927b56939 Updated local loop closure detection in space and path planning for Localization mode. 2015-05-06 00:29:54 -04:00
Mathieu Labbe cf5f998e06 Added path immunization between the nearest local location and the current pose. New parameter: "RGBD/LocalImmunizationRatio" 2015-05-04 16:00:21 -04:00
Mathieu Labbe 26305588da fixed weighting while moving 2015-05-03 21:00:18 -04:00
Mathieu Labbe b23d9808bf updated how weight is updated when moving 2015-05-03 20:03:53 -04:00
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 Labbé d09e8f237a fixed Windows build and some warnings 2015-04-29 00:38:00 -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 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