Mathieu Labbe
50eeda5b95
merged multicamera branch into devel branch
2015-06-16 17:41:51 -04:00
Mathieu Labbe
039ae45d57
merged master to multicamera branch
2015-06-16 13:37:33 -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
matlabbe
feba562c1b
Updated logged statistics
2015-06-08 10:53:56 -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
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
ec8946dc2f
Avoid filling node info stuff when getting the graph for optimization
2015-05-27 19:50:48 -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
8e26219e92
Fixed new map trigger from Identity odom when DetectionRate=0 and BufferSize=0. MainWindow: fixed overwritting database on close
2015-05-21 09:16:13 -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
Mathieu Labbe
b54ff8547e
Planning: abort plan when nearest pose on the path is not found, only keep the latest virtual link on the current path index
2015-05-12 13:29:00 -04:00
matlabbe
04bd596705
Planning update: remove virtual links up to current path index
2015-05-11 15:48:27 -04:00
matlabbe
7aaa4698d5
Added estimation loop closure hypothesis on small displacements, but only if the previous signature doesn't have a loop closure
2015-05-08 11:00:50 -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
0b5d6c84b1
Aborting path planned on "last node not found" error
2015-05-04 18:35:29 -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 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
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
262477f199
Fixed log highest hypothesis values
2015-04-10 22:20:15 -04:00
Mathieu Labbe
04b35b2adf
GUI: Added new Freenect2 and StereoDC1394 source options.
2015-04-06 00:28:04 -04:00
matlabbe
5ef3194786
fixed variance fatal error on loop closure detection only
2015-04-03 08:26:47 -04:00
Mathieu Labbé
37c34e8186
Fixed some warnings on VisualStudio2010
2015-04-01 10:38:59 -04:00
Mathieu Labbe
fb85434273
Fixed [DB error: no such column: pose]
2015-03-26 11:42:35 -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
b518edf6ce
updated some debug logs
2015-03-19 16:55:43 -04:00
Mathieu Labbe
9229c9887b
Init rtabmap: don't optimize graph on init
2015-03-19 16:13:06 -04:00
Mathieu Labbe
63f438876c
fixed a crash error on last commit
2015-03-16 18:36:45 -04:00
Mathieu Labbe
b1827aeb89
DatabaseViewer: added graph depth param. Rtabmap: when the robot is not moving, now deleting location "after" retrieval
2015-03-16 18:22:54 -04:00
Mathieu Labbe
49883a67e7
fixed a graph optimization startup crash when a database is already created
2015-03-16 15:38:57 -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
matlabbe
0a7326bf97
fixed deleting log files when a new database is created
2015-03-09 16:03:46 -04:00
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
d3a2c62b45
Fixed bug where all global loop closures were rejected when LoopRatio was set
2015-03-01 15:51:04 -05:00
Mathieu Labbe
721de2e76b
Database update (version 0.8.5): added Node.stamp and Node.label fields
...
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)
...
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
38a4e8e4ee
Updated how locations are retrieved on a planned path or near based on space if no path is activated.
...
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