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807 Commits

Author SHA1 Message Date
matlabbe
6bf271e04d updated local loop closure (space) map transform on localization 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2054 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-20 16:47:18 +00:00
matlabbe
57dec696cf fixed not uncompressed depth2D when restarting rtabmap with a prebuilt map for icp constraints 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2053 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-20 16:20:21 +00:00
matlabbe
faf43cc82c Odometry: added force2D option 
Changed parameter RGBD/ScanMatchingSize to RGBD/PoseScanMatching

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2050 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-19 23:38:15 +00:00
matlabbe
502804076a demo_robot_mapping.launch: fixed "util3d.cpp:3038::rayTrace() Condition (end.x >= 0 && end.x < grid.cols) not met! [end.x=84 grid.cols=84]" fatal error 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1997 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-14 15:45:10 +00:00
matlabbe
18596b9627 updated some default parameters mostly related to stereo odometry (flow, stereo, bayes prediction, likelihood tf-idf) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1995 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-13 22:28:59 +00:00
matlabbe
af31410590 Updated EpipolarGeometry methods 
Experimental: added OdometryMono in epipolar geometry test

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1982 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-12 15:25:15 +00:00
matlabbe
6608ee5ef6 rtabmap: don't publish statistics if process returns false. Also, don't return true when the displacement is too small (when the related parameters are set) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1981 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-11 22:14:45 +00:00
matlabbe
f9e25c2fa6 util3d: added bool segmentFlatObstacles (default false) parameter to segmentObstaclesFromGround() method 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1980 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-11 21:34:14 +00:00
matlabbe
7efc6aab2d added EpipolarGeometry::triangulatePoints() (LS and iterative LS) 
Added option to see words3d in constraint view

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1974 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-07 20:04:04 +00:00
matlabbe
b5dc120bb9 fixed build error (on EpipolarGeometry) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1972 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-06 14:44:32 +00:00
matlabbe
a6078bfad4 Added EpipolarGeometry::findFFromCalibratedStereoCameras() 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1971 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-06 04:50:46 +00:00
matlabbe
cbb0185adf Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1967 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-04 18:58:40 +00:00
matlabbe
54084fc5e1 OdometryFlow: ignore maxDepth when set to 0 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1966 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-04 00:06:40 +00:00
matlabbe
bb22d6b065 updated grid map margin to +-cellSize instead of 1 meter 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1965 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-03 22:15:07 +00:00
matlabbe
500ba389b7 fixed create2DMapFromOccupancyLocalMaps() initial map size 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1964 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-03 22:04:03 +00:00
matlabbe
c98db0396b create2DMap() added minMapSize parameter 
dbViewer: fixed refine Visual

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1962 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-03 21:40:54 +00:00
matlabbe
b476022bbb updated default LccBow/MaxDepth to 4 meters 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1957 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-03 13:43:52 +00:00
matlabbe
080f31c8be fixed incremental memory when reextracting features 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1956 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-02 17:14:05 +00:00
matlabbe
15303d0b61 Fixed not loaded data from DBReader 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1944 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-01 22:00:53 +00:00
matlabbe
f12fc93639 Added option to show graphs in the 3D map view. (See "General Settings->3D rendering->Show Graphs" default true) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1943 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-30 19:38:58 +00:00
matlabbe
9358234e44 removed virtual signature -1 in rtabmap::getMap() (to avoid error "[ERROR] DBDriverSqlite3.cpp:1103::loadSignaturesQuery() Signature -1 not found in database!") 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1942 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-30 15:15:20 +00:00
matlabbe
1597cfc293 GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1940 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-30 14:43:43 +00:00
matlabbe
0f7cc38688 Memory efficiency: changed std::vector<unsigned char> bytes arrays to cv::Mat to avoid multiple copies when Signature objects are copied. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1937 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 19:57:21 +00:00
matlabbe
9ffd103e69 Removed trailing separator from working directory. Replaced all slashes by QDir::separator(). 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1935 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 05:00:10 +00:00
matlabbe
4340748fec fixed compilation error on Windows (on util3d::removeNaNFromPointCloud() method) 
increased stability of new actions added (New/Open/Close database).

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1933 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 04:16:36 +00:00
matlabbe
d950c88373 Fixed odometryBOW to correctly set initial pose 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1932 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 01:58:39 +00:00
matlabbe
b56e03b463 -Updated File menu with new actions "New database...", "Open database", "Close database" and "Edit database". Each new session will be automatically saved when closing the database. The "play" action cannot be activated until a new database is created or a previous session database is opened. 
-  Memory usage reviewed for the GUI: we don't uncompress data for downloaded nodes from "Download all clouds" action.
- Odometry: added optional argument "initialPose" to reset() method

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1930 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 01:20:57 +00:00
matlabbe
457c068e0f Refactored how visualization data are transfered between core and gui: using only Signature object instead of separated image,deph,fx,fy... 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1928 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-26 21:47:29 +00:00
matlabbe
60b0fd2e98 Added util3d::segmentObstaclesFromGround() method, templated some PCL methods (new rtabmap/core/impl/util3d.hpp) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1921 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-24 16:58:32 +00:00
matlabbe
8e55d7847f added util3d::cloudFromDisparity() 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1915 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-22 20:33:26 +00:00
matlabbe
d220301f50 fixed typos... 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1913 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-22 17:19:53 +00:00
matlabbe
d0325f3171 Added util3d::occupancy2DFromCloud3D() and util3d::create2DMapFromOccupancyLocalMaps() methods to create 2D occupancy maps from 3D clouds 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1899 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-20 02:14:31 +00:00
matlabbe
e03831e7db rtabmap: desactivate graph optimization when RGBD/ToroIterations=0 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1896 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-17 23:59:15 +00:00
matlabbe
85526ec106 added Rtabmap/StatisticLoggedHeaders to avoid headers in log files 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1869 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-16 18:35:00 +00:00
matlabbe
fcd3301665 Stereo! The memory can now handle directly stereo images. Disparity can be computed on the fly by keeping left and right images, so for features extraction (and for re-extraction on loop closure), we can compute 3D points precisely. New parameters can be found under "RGB-D Mapping->Stereo". Full image disparity is reconstructed in the GUI (not the core). 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1861 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-16 00:14:23 +00:00
matlabbe
8f451029e2 Added setDepthColorSyncEnabled(true) for OpenNI2 devices to synchronize RGB and depth images 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1860 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-16 00:07:25 +00:00
matlabbe
22ce2525fc Added parameter Kp/NewWordsComparedTogether for dictionary, always true but when comparing loop closures with Reextracting features, it is set to false to save time. 
fixed crash when calling getMap without rtabmap yet initialized.
Parameter "LccReextract/LoopClosureFeatures" is now named "LccReextract/Activated"


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1855 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-14 21:48:50 +00:00
matlabbe
8b67633b34 Refactored Odometry class: 
-new odometry parameters
-new Optical flow strategy
-Stereo data support 
Refactored SensorData class to support stereo images
Updated default parameters (mostly odometry ones)
util3d: new methods to handle/reconstruct 3D clouds from disparity image / stereo images
PreferencesDialog: added Odometry/BOW and Odometry/OpticalFLow panels.
DatabaseViewer: fixed a crash when database is empty. Added cloud reconstruction of stereo images if saved in database
Camera: added 1 second delay to avoid dark images at the starting


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1849 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-13 19:10:22 +00:00
matlabbe
a3f7415821 Refactored OdometryBOW class 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1846 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-08 00:32:43 +00:00
matlabbe
37395a485c Extended KpDetectorStrategy/OdomType/ReextractFeatureType comments for BRISK 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1844 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-07 10:27:21 +00:00
matlabbe
4d4c5af6e5 Fixed crash when using binary descriptors and maxWords/maxDepth are set 
Added BRISK detector

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1839 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-06 19:41:45 +00:00
matlabbe
61603cdf0f Fixed missing visual words when parameter Mem/InitWMWithAllNodes is set 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1828 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-02 20:35:45 +00:00
matlabbe
2badfb5faf Upgraded trunk version to 0.7.1 
Added version in ini config file
Fixed rtabmap-console for loop closure detection-only

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1823 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-02 15:12:56 +00:00
matlabbe
c441cc1d0f Added Map color overlay on 3D cloud (press key '2' on keyboard) 
Fixed loading all node ids from database, ignoring children

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1813 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-01 21:44:46 +00:00
matlabbe
317d382a24 New parameter: Rtabmap/StartNewMapOnLoopClosure, when activated and creating a new map, the nodes of the new map will be ignored until a loop closure is found. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1812 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-01 19:52:46 +00:00
matlabbe
ebeb116c0d added new statistics (features extracted current image, local map size) shown in GUI for Odometry 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1719 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-25 15:04:35 +00:00
matlabbe
c5eedd9a9d rtabmap::getGraph() returning mapIds too 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1681 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-22 18:02:07 +00:00
matlabbe
c4408920f6 DatabaseViewer: ask saving changes to database on Exit 
New parameter: Mem/InitWMWithAllNodes

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1680 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-21 21:14:17 +00:00
matlabbe
a98f819821 Binary descriptors (ORB, BRIEF, FREAK) can now be used for the visual dictionnary: maybe not as discriminative as SIFT/SURF on large environments, the advantage is that RTAB-Map will work without Patent/noncommercial licenses of SIFT and SURF. 
A new option is added to re-extract features when a loop closure hypothesis is found. 
Another new option is to force 2D (3DoF) transform on visual odometry and loop closures.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1679 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-21 16:51:51 +00:00
matlabbe
02850ec756 Fixed freenect camera to handle K4W (libfreenect must be built from https://github.com/renewagner/libfreenect, k4w-wip branch). 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1678 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-12 20:27:02 +00:00