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33 Commits

Author SHA1 Message Date
matlabbe
30777b630a Fixed issue #10 (missing one iteration on rtabmap-console) 2016-03-29 13:07:32 -04:00
matlabbe
56bf2b788f ConsoleApp: parsing rtabmap parameters before app's parameters 2016-03-11 17:01:52 -05:00
matlabbe
0ae17ff17d Added Parameters::parseArguments() and Parameters::showUsage() functions for convenience. Updated OdometryViewer and Console tools to use parseArguments(). 2016-03-11 16:54:54 -05:00
matlabbe
7bfd76e747 -Updated CameraModel and StereoCameraModel so that a stereo camera model can be initialization from know intrinsics and extrinsics 
-CreateSimpleCalibrationDialog updated to create mono/stereo calibration files with advanced option (setting intrinsics of each camera + extrinsics between them). Rectification R and new camera P matrices are then automatically computed.
-Added GeodeticCoords class for convience conversion between GPS values (latitude/longitude/altitude) to local coordinate (ENU).
-Added support of Malaga Urban and St Lucia ground truths.
-CameraImages: added option to debayer images. Timestamps file: added support of "sec millisec" format.
-Added UException class: exceptions are sent instead of exiting the application on UASSERT or UFATAL.
 2016-01-19 17:43:33 -05:00
matlabbe
3292fb1146 Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path. 
Added graph::importPoses().
Can now have a ground truth published with SensorData (filled optionally by CameraImages classes).
Increased database closing time performance when the database is not saved.
Added ParametersToolBox widget in DatabaseViewer for core parameters (refactoring done to make easy access to all rtabmap parameters in DatabaseViewer).
Added Parameters::getType(key).
Added Transform::interpolate() to interpolate between two transforms (SLERP)
Updated pf_filter.m and added test_pf_filter.m MATLAB scripts (making easier to compare with a ground truth)
UPlot: can now save all curve data of a figure in one action (see right-click on legend area->"Copy all curve data to clipboard")
 2015-12-17 14:13:19 -05:00
matlabbe
7d521819f0 moved Rtabmap::[read,write]Parameters() and getVersion() to Parameters class (readINI(), writeINI() and getVersion()). Added Parameters::getDefaultOdometryParameters() and Parameters::isFeatureParameter() for convenience. 2015-11-26 13:16:01 -05:00
matlabbe
ae9f21acd7 Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used 2015-11-22 18:08:32 -05:00
matlabbe
beab2271f0 Added statistics for incremental flann index size 2015-09-09 12:08:51 -04:00
matlabbe
2877a14360 Added CameraRGBDImages class (read RGB-D images from a folder) 2015-07-30 14:17:29 -04:00
matlabbe
911ab709af Fixed build if PCL is not built with OpenNI 2015-07-24 20:42:36 -04:00
matlabbe
8c7f6ced6f removed asserts on CameraModel constructor when fx != 0 (but added the check in isValid() method) 2015-07-18 17:26:41 -04:00
matlabbe
28c9ada06e Changed all remaining IplImage to cv::Mat 2015-07-07 11:49:41 -04:00
matlabbe
6df403ed42 Refactored Camera classes and Preferences->Source menu 2015-06-26 18:21:32 -04:00
matlabbe
13af312b03 Update main.cpp 2015-05-25 18:04:29 -04:00
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
ee0051a585 fixed Time threshold not set on Console loop closure detection app 2015-01-30 18:32:35 -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. 
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
42af8aabe2 fixed name of the saved ground truth file from the console application, updated "samples" ground truth file 2015-01-05 14:29:03 -05:00
Alexis Ballier
d8db777d7c Use standard CMAKE_INSTALL_{BIN,LIB}DIR instead of INSTALL_{BIN,LIB}_DIR. 
Overriding the latters caused me to see these files installed in ${DESTDIR}/${BUILD_DIR}
 2014-12-17 17:44:47 +01:00
Mathieu Labbe
4b8176a0ba Set cv::NORM_L2SQR for bruteforce NN with float descriptors, installing rtabmap-console 2014-12-04 11:47:25 -05:00
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
e460cb592f Refactoring: Renamed rtabmap::Image to rtabmap::SensorData 
removed keypoints and descriptors stuff from CameraEvent and Image/SensorData
removed keypoints3 from Image/SensorData

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1653 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-18 23:14:04 +00:00
matlabbe
29097c023e Changed license to BSD 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1633 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-11 17:00:55 +00:00
matlabbe
c18f1501d4 Refactoring CameraRGBD class (now including OpenNI, OpenNI2, OpenNI from OpenCV and Freenect) 
Added tool to test RGB-D camera: rtabmap-rgbd_camera
Fixed Freenect corrupted depth image (after some time)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1366 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-15 03:31:35 +00:00
matlabbe
0bba363f5f Added CameraRGBD with openni from OpenCV, removed feature2D stuff from Camera 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1358 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-13 03:47:39 +00:00
matlabbe
8b8511e154 Merged pcl_integration branch to trunk 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-11 00:12:44 +00:00
matlabbe
b92d0444ac Included UtiLite library directly in Rtabmap source (to simplify the installation) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@855 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-04-30 20:16:01 +00:00
matlabbe
0c1b8d7349 Added image sequence to rtabmap::Image class 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@740 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-21 18:55:25 +00:00
matlabbe
0452aec181 rtabmap: setup working directory and deleting memory is done in init() instead of the Rtabmap constructor. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@731 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-13 19:59:53 +00:00
matlabbe
b032699860 Making Rtabmap interface easier to use from c++ (Update c++ example usage) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@695 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-10 20:29:01 +00:00
matlabbe
0f4e24233c Added c++ example usage 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@694 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-10 16:28:12 +00:00
matlabbe
2836d4c48c merged attention branch to trunk 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@657 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-12-11 18:05:05 +00:00
matlabbe
17b8e10ed8 Merged Audio branch to trunk 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@560 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-06-24 17:19:34 +00:00