i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity
1,557 Commits 29 Branches 163 Tags
26147c97cf3418dfdc601a4c88ea666912b49e59
Commit Graph

877 Commits

Author SHA1 Message Date
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
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
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
matlabbe
c8593df7eb Enabled binary visual words for dictionary (for loop closure detection). 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1677 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-09 21:54:32 +00:00
matlabbe
e687302ce0 Don't publish new node data when in localization mode 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1676 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-09 18:47:04 +00:00
matlabbe
f251b64310 Added GFTT detector which can be used for Odometry 
Modified how depth is computed: Now the mean of neighbors is used as the value instead of interpolation... averaging the Kinect noise.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1662 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-20 23:05:06 +00:00
matlabbe
b0af55699d removed image conversion not used 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1659 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-19 20:35:09 +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
9aca634b28 added keypoints3 field to Image class 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1652 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-14 20:29:43 +00:00
matlabbe
7cf89b6d76 Added mapIds to rtabmap::get3DMap() 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1644 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-13 18:57:17 +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
df76e3cd29 Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map 
Added Feature2D::parseParameters()
 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1632 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-11 15:23:06 +00:00
matlabbe
52af62394e OdometryICP: added p2p (point to point) option 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1631 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-05 00:35:21 +00:00
matlabbe
a0da05a352 fixed some not initialised variables 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1626 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-30 17:51:05 +00:00
matlabbe
8e65812324 Added interpolate parameter to util3d::getDepth() 
Added Reset calibration button
Added Sense 3D scanner input source

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1625 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-30 17:42:58 +00:00
matlabbe
69ad085f88 -Added the grid map in the 3D map view (pcl::TextureMesh, available only when pcl>=1.7.2). Refactored how 2d maps are created. 
-Fixed export grid map on Mac OS X.


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1623 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-29 21:48:37 +00:00