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
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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)
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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.
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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.
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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()
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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.
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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.
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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
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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
Mathieu Labbe
fdf7f69783
Added rtabmap-camera tool. Added Export button in Calibration dialog to
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save calibration to yaml file (same format as ROS).
2015-01-19 16:14:49 -05:00
Mathieu Labbe
6bd2a0926b
Split RawDataKept parameter into Raw and Binary parameters to save RAM when keeping raw data in the core is not required
2015-01-12 18:23:25 -05:00
Mathieu Labbe
21dc506f82
Moved definition of the static Transform::getIdentity() method in header file in order to fix issue 5
2015-01-09 13:42:02 -05:00
Mathieu Labbe
05ee9a7b84
fixed odometry "empty image?" error when reading from database with
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stereo images, fixed databaseViewer fatal error when there are null
poses
2015-01-08 16:12:45 -05:00
matlabbe
7f7d05e243
The graph is also sent in appearance-only mode. Added posterior hypotheses color on the graph view. Some minor fixes.
2015-01-07 17:30:20 -05:00
matlabbe
a979216fc1
Added tiff as image type supported, fixed a crash on Mac OS X Maverick when showing the GraphView
2015-01-06 10:53:43 -05:00
Mathieu Labbe
e4012bf932
Merge branch 'cmakeinstall' of https://github.com/aballier/rtabmap
2014-12-19 11:10:07 -05:00
Mathieu Labbe
86a6fe202c
rtabmap:
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-Fixed map id not incremented on Odometry reset (identity transform was missed)
-Keeping maximum odometry variance between two loop closure updates
Odometry:
-removed parameters Odom/FeaturesRatio, Odom/LinearUpdate, Odom/AngularUpdate
-added parameter Odom/FillInfoData
-expended OdometryInfo class with features stuff
Gui:
-show inliers/outliers features in Odometry view
2014-12-18 16:54:46 -05:00
Alexis Ballier
d8db777d7c
Use standard CMAKE_INSTALL_{BIN,LIB}DIR instead of INSTALL_{BIN,LIB}_DIR.
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Overriding the latters caused me to see these files installed in ${DESTDIR}/${BUILD_DIR}
2014-12-17 17:44:47 +01:00
