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1,427 Commits 29 Branches 163 Tags
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481 Commits

Author SHA1 Message Date
matlabbe
4e027a6515 Grid/DetectFlatObstacles default true. segmentObstaclesFromGround(): Fixed not used indices still kept in obstacles output 2016-08-31 12:43:54 -04:00
matlabbe
797f1f0f1c DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close 2016-08-31 12:43:54 -04:00
matlabbe
4d8200fef3 Added "RGBD/ProximityPathMaxNeighbors" parameter 2016-08-31 12:43:54 -04:00
matlabbe
edee909324 RegistrationICP: fixed local scan transform issue 2016-08-31 12:43:54 -04:00
matlabbe
c8cb961108 Refactored FlannIndex: Moved class into its own include file. Added radiusSearch() and buildKDtreeSingleIndex() methods. If dimensions <= 3 and float, use L2_Simple distance type. 2016-08-31 12:43:53 -04:00
matlabbe
013eba1d58 0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes. 2016-08-31 12:43:53 -04:00
matlabbe
af02e02978 Added Occupancy class. Database SQL: added ground_cells, obstacle_cells and cell_size fields to Node table (updated Signature too). 2016-08-31 12:43:53 -04:00
matlabbe
18b1931e7c Added occupancy grid footprintRadius parameter to clear obstacles under path 2016-08-14 14:52:42 -04:00
matlabbe
ae7436a41b Fixed bug where very long paths (over maxGraphDepth) were used for scan matching. Added "RGBD/ProximityMaxPaths" parameter (default 3) to limit the number of path comparisons for proximity detection. 2016-08-12 18:43:12 -04:00
matlabbe
a824b24058 Added util3d::transformLaserScan(). OdomF2F: filling local scan map field with key frame scane in odom info. DbViewer: Print database parameters in Info view. 2016-08-08 14:35:39 -04:00
matlabbe
6ef9034a67 Fixed ICP-only odometry when guess from motion is enabled 2016-08-07 20:54:56 -04:00
matlabbe
c25c1db3da Odometry: changed isF2M() and isF2F() by getType() (following pull request https://github.com/introlab/rtabmap/pull/102) 2016-08-01 15:26:35 -04:00
Di Zeng
33dab87765 added the type virtual function to avoid dynamic cast 2016-07-28 11:59:24 -07:00
matlabbe
9d09c509ab Added librealsense support #100 2016-07-26 18:39:34 -04:00
matlabbe
dbb29c7661 databaseViewer: Fixed link's covariance modified when pose correction was disabled. Link: setVariance() and setInfMatrix are now private, to force re-cloning the link if we want to change these info. 2016-07-24 13:23:22 -04:00
matlabbe
1e47271c91 DBReader: Fixed wrong virtual inherited function name odometryProvided() -> odomProvided() 2016-07-20 16:37:32 -04:00
matlabbe
ca6cd19fb1 Updated Copyright year and About dialog summary 2016-07-17 21:57:10 -04:00
matlabbe
711ff2692c Updated default x-axis units of the figures with time stamps instead of IDs (#48). 2016-07-17 19:58:32 -04:00
matlabbe
b4b7b6f455 Added Octomap visualization and export options 2016-07-15 17:46:13 -04:00
matlabbe
38c3e3600d Planning stuck detection updated: now using distance to goal 2016-07-11 17:16:11 -04:00
matlabbe
4cd8705710 Fixed cloudFromDepth() method when depth image is not the same size as the calibration file. That fixes projection map created from Tango databases (where depth size != rgb size) 2016-07-08 12:47:23 -04:00
matlabbe
20862f07bc RegistrationInfo: added IcpTranslation and IcpRotation members 2016-07-05 11:23:59 -04:00
matlabbe
02d4ca5c8b util3d::segmentObstaclesFromGround: added viewPoint argument (default 0,0,100) 2016-07-04 11:47:10 -04:00
matlabbe
c2a7b2f13a Odometry: Added process() with optional guess interface 2016-06-30 11:34:46 -04:00
matlabbe
4115bc416e Added OctoMap class 2016-06-28 19:00:44 -04:00
matlabbe
517bfa5272 OdometryF2M: updated how local scan map is updated 2016-06-25 13:18:09 -04:00
matlabbe
e90c97f8a4 ZED driver: added option to use visual odometry approach from zed sdk. RtabmapThread: fixed thread state change on new map trigger on Odometry init (variance=9999). Odometry: on init, verify that the first frame is ok before sending first pose. Parameters: Mem/SaveDepth16Format is now false by default 2016-06-24 18:49:34 -04:00
matlabbe
0ec39e3c77 DBReader now inherits from Camera (so that CameraThread's post processing stuff can be used with a database stream) 2016-06-21 11:22:24 -04:00
matlabbe
cdddb1209e DBReader: added camera selection 2016-06-20 10:50:01 -04:00
matlabbe
d03b54d95a Parameters: removed trailing 0 for double/float parameters, to avoid serializing with them (so that we don't have the 0.0 != 0 when loading parameters from database) 2016-06-16 15:34:27 -04:00
matlabbe
7b733686cb Updated CameraVideo and CameraStereoVideo constructor interface with USB 2016-06-15 11:30:05 -04:00
matlabbe
bdafb9a3f1 Merge branch 'master' of github.com:introlab/rtabmap into devel 2016-06-14 11:56:22 -04:00
matlabbe
abd376a44c segmentObstaclesFromGround() fixed identical ground and obstacles indices 2016-06-14 11:55:58 -04:00
matlabbe
38a7993a9b Database: added "parameters" field in Statistics table. GUI: detecting if parameters in database are different from the Preferences, if so ask user to update them. 2016-06-13 17:34:17 -04:00
matlabbe
3edb133727 Increased default Stereo/MaxDisparity to 128 2016-06-13 14:37:19 -04:00
matlabbe
84dd258777 Added "Odom/AligWithGround" parameter. Added util3d::extractPlane(). 2016-06-12 21:45:22 -04:00
matlabbe
543b8df045 MainWindow: Added statistics about how much size the created clouds take in RAM. Avoid caching data on small movements. Export: Fixed meshing checkbox and pipeline combo box not saved/loaded. PreferencesDialog: Added option to disable caching the point clouds. computeNormals(): added viewpoint parameter. mls(): making sure that all returned normals are normalized. 2016-06-12 17:53:35 -04:00
matlabbe
cb7c76889d API achange (0.11.8): computeNormals returns only pcl::Normal cloud, not pcl::PointNormal or pcl::PointXYZRGBNormal types. MainWindow: Normals are not kept in cache to save RAM. ProgressDialog: check if auto-close is still checked when close() slot is called. 2016-06-12 13:51:49 -04:00
matlabbe
d9611f784c Added ZED parameters 2016-06-02 17:27:12 -04:00
matlabbe
6f1f490370 0.11.7: Added ZED sdk support 2016-05-31 19:09:49 -04:00
matlabbe
be13a9b967 Fixed localization bug when virtual links are added 2016-05-26 17:28:06 -04:00
matlabbe
7aa9c92971 Added util3d::pasthrough returning indices for convenience. segmentObstaclesFromGound(): filtering obstacles under maxGroundHeight if set 2016-05-21 15:54:37 -04:00
matlabbe
971c96f566 MainWindow projected map: fixed bad occupancy from wrong normals after voxel filtering. util3d::segmentObstaclesFromGround(): added flatObstacles argument. 2016-05-20 17:25:52 -04:00
matlabbe
9f6af75f79 Local scan matching: set larger scan points for max scan points when it is not set. Fixed missing scan Ids in links' user data to correctly visualize proximity links by space in DatabaseViewer. CloudViewer: using line instead of arrow between the referential and the frustum. removed parameter "RGBD/ProximityPathScansMerged" as visual proximity by space already does that. 2016-05-20 11:44:50 -04:00
matlabbe
a6bad6d2a5 F2F nonholonomic bad transforms fixed (https://github.com/introlab/rtabmap_ros/issues/74) 2016-05-17 18:10:24 -04:00
matlabbe
2db6b2ceef segmentObstaclesFromGround: Added epsilon for ground surface inclusion inside maximum and minimum heights 2016-05-16 16:26:16 -04:00
Mathieu Labbe
4cc1c66f09 Segment ground/obstacles: added max ground height parameter 2016-04-15 17:41:40 -04:00
matlabbe
9339b86633 API change: segmentObstaclesFromGround() and normalFiltering() 2016-04-12 18:57:04 -04:00
matlabbe
684e9fb8b9 0.11.4: API change: added minDepth parameter to cloudFromXXXXX() methods and removed voxel parameter 2016-04-12 15:14:04 -04:00
matlabbe
dece54ca3e Added parameters: Mem/ImagePreDecimation Mem/ImagePostDecimation Odom/ImageDecimation 2016-04-08 16:15:08 -04:00