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1,166 Commits 29 Branches 163 Tags
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Commit Graph

417 Commits

Author SHA1 Message Date
matlabbe
6f1df94b18 Merge branch 'devel' of github.com:introlab/rtabmap into devel 2015-06-25 16:05:06 -04:00
matlabbe
01f2f1348c Added OdomBow/FixedLocalMapPath parameter 2015-06-25 16:04:42 -04:00
matlabbe
817906d608 DBViewer: added stereo images extraction 2015-06-24 20:20:27 -04:00
matlabbe
87063cf357 Added "Cancel goal" action 2015-06-21 20:16:56 -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
Mathieu Labbe
50eeda5b95 merged multicamera branch into devel branch 2015-06-16 17:41:51 -04:00
matlabbe
6a7a9fb9b0 reverted modif on z when honolonomic but added modif on yaw depending on the estimated y value 2015-06-16 10:50:49 -04:00
matlabbe
7cd0d0cd53 holonomic option: makeing z depending on x and pitch too if nonholonomic 2015-06-16 08:50:32 -04:00
matlabbe
53f7719655 Added odometry honolomic parameter 2015-06-15 20:53:31 -04:00
matlabbe
dfbf6e721e Refactored OdometryOpticalFlow (added optical flow guess using previous odometry transform, merged stereo/depth stuff) 2015-06-15 14:44:44 -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
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
c5046df226 merged master to multicamera branch 2015-05-29 14:54:49 -04:00
Mathieu Labbe
c6d0d47b1c Added multi-camera feature 2015-05-29 14:46:48 -04:00
matlabbe
ece3915b10 fixed colored loop closure detection rect when no images are in GUI cache. Modified some logged info. 2015-05-27 19:02:27 -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
1f8fc91f46 fixed DatabaseViewer Export's options 2015-05-06 13:05:32 -04:00
Mathieu Labbe
146c12f51a Merge branch 'master' of github.com:introlab/rtabmap 2015-05-06 00:30:16 -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
matlabbe
b5e62be664 Freenect2: added new type Ir+Depth (RTAB-Map can be used without lightwith the Kinect v2) 2015-05-05 19:32:09 -04:00
Mathieu Labbe
b2bfa91153 Added Depth information to ImageView's keypoint items 2015-05-05 11:39:30 -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
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