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Author SHA1 Message Date
matlabbe
9c59a6cf5e fixed saving/loading odomQualityThr to ini file 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1722 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-25 17:37:11 +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
edb8245670 removed version suffix from bundle/app name 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1672 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-29 00:45:50 +00:00
matlabbe
35dbc01166 not forcing to static lib when packaging to bundle 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1671 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-28 22:32:09 +00:00
matlabbe
ee6deb5640 fixed build on Windows 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1670 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-27 20:47:32 +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
0f4d771160 added description to SURF and SIFT parameters 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1657 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-19 19:59:02 +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
4fba63b882 updated README 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1635 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-11 18:48:18 +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
d3599f7937 fixed build on system with PCL < 1.7.2 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1624 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-29 21:55:32 +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
matlabbe
a81f5785a2 Added Export scans and View scans menu actions, fixed occupancy grid voxel size export 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1622 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-29 14:11:08 +00:00
matlabbe
51b5a91c6a Refactoring of Export/View actions: 
Added ExportCloudsDialog class for convenience when Viewing or Exporting clouds/meshes
Added Export grid map action
Clouds shown in the 3D Map view can be directly saved without cloud regeneration.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1621 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-29 00:52:35 +00:00
matlabbe
0a385ed75f Odometry: fixed bug using max depth on the local map's points 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1619 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-28 18:34:17 +00:00
matlabbe
cd15107e12 rtabmapviz: re-activated download map/graph "not optimized" options 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1618 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-28 14:43:25 +00:00
matlabbe
8fe1b1d589 only search for QVTK if VTK5 is found (not for VTK6) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1616 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-26 05:23:24 +00:00
matlabbe
28787d583b added FindQVTK.cmake 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1615 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-26 05:06:05 +00:00
matlabbe
d9c6e99ba7 added some svn ignores 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1614 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-26 04:38:32 +00:00
matlabbe
f090c81aaf Added CalibrationDialog in Preferences->source for convenience. The database is also changed to handle new FX, FY, CX and CY intrinsic parameters instead of only depthConstant parameter. Added version of the database in a new table Admin. Updated to version 0.7.0. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1613 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-26 04:36:00 +00:00
matlabbe
1557b3d44d ubuntu 14.04 printf error (missing #include <stdio.h>) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1612 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-25 18:41:50 +00:00
matlabbe
18f84febc1 OdometryEvent: set quality to -1 when not set. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1611 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-24 17:27:43 +00:00
matlabbe
38f967e10f icp: enabled setting param "icp.setRANSACOutlierRejectionThreshold()" with the same maxCorrespondenceDistance used already for "icp.setMaxCorrespondenceDistance()" 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1594 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-23 22:34:46 +00:00
matlabbe
ab1d4eb232 databaseviewer set default CameraLockZ=false on constraints view 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1593 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-23 21:30:27 +00:00
matlabbe
3615ea1e21 Calibration tool files... 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1588 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-22 22:23:52 +00:00
matlabbe
c1497d9e92 added CalibrationDialog class and Calibration tool app 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1587 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-22 22:22:59 +00:00
matlabbe
3328a7c9a0 CameraRGBD example, show usage when no argument is set 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1585 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-21 18:46:48 +00:00
matlabbe
b46f1a53a5 moved CameraRGBD example from examples to tools folder 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1584 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-21 18:42:10 +00:00
matlabbe
6e7dde2aea DbViewer: added mapId 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1561 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-14 19:16:26 +00:00
matlabbe
2479272161 GUI: Changed "Save" for "Export", moved Export to File menu 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1558 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-14 01:40:50 +00:00
matlabbe
7cfb985478 GUI: ask for MLS when saving or viewing high res clouds (added parameter values in progress dialog) 
Source: added focalLength parameter for RGBD camera (if not null, it will override the value from the camera)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1557 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-14 01:25:28 +00:00
matlabbe
bcc9469c91 corrected typos 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1553 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-13 18:09:54 +00:00
matlabbe
16058dcbbe radiusPosesFiltering default keepLatest=true 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1550 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-13 17:59:38 +00:00
matlabbe
6e3303654e updated OptimizeFromGraphEnd description 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1549 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-13 17:49:11 +00:00
matlabbe
1d7d2a1847 rtabmap: set mapTransform on local loop closures too 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1547 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-13 16:57:31 +00:00
matlabbe
8da1d61a71 fixed issue 10 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1544 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-11 19:03:11 +00:00
matlabbe
e2c612dffd added Rtabmap::getTimeTheshold() 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1485 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-09 18:03:02 +00:00