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Author SHA1 Message Date
matlabbe 30777b630a Fixed issue #10 (missing one iteration on rtabmap-console) 2016-03-29 13:07:32 -04:00
matlabbe 8030d89634 Implemented OptimizerG2O::optimimzeBA(). Updated PostProcessingDialog (g2o sba option). Fixed words descriptors not filled in rtabmap::getMap3D(). CameraModelD(): return 5 null coeff distorsions if not set 2016-03-28 18:19:17 -04:00
matlabbe 18759e7197 CMake: Added info about CMAKE_INSTALL_LIBDIR 2016-03-23 19:56:45 -04:00
matlabbe d74cb1b232 Updated pull request (supporting internal/external build) 2016-03-23 19:07:44 -04:00
matlabbe cee3a77a4c Merge pull request #61 from Wade5566/patch-1 
Update CMakeLists.txt
 2016-03-23 19:06:40 -04:00
matlabbe 1120a74b13 Updated RGB-D mapping C++ example 2016-03-23 14:18:22 -04:00
matlabbe a01fb82f51 ExportCloudsDialog: Updated TextureMesh export. MainWindow: fixed exporting only visible clouds. 2016-03-22 20:44:18 -04:00
matlabbe c43fd6a2a7 Optimizer::create() updated interface 2016-03-22 11:06:45 -04:00
matlabbe 9385aa2332 Tango: Added OBJ export (with texture) 2016-03-21 20:03:03 -04:00
matlabbe bc78f789eb Tango: Added texture to meshes #57 2016-03-21 15:45:26 -04:00
matlabbe 1b4539a0df Tango: added asking Motion Tracking permission 2016-03-17 22:37:59 -04:00
matlabbe 3f48b39ccb MainWindow: Hiding soruce label on monitoring state 2016-03-17 10:47:50 -04:00
matlabbe 36d199a2b3 Added "RGBD/OptimizeSlam2d" parameter warning 2016-03-15 12:52:28 -04:00
matlabbe bff0c1cb84 fixed #55 2016-03-15 12:29:36 -04:00
matlabbe 280cb28030 Updated FindG2O.cmake to add chmold include directory 2016-03-15 12:22:28 -04:00
matlabbe 79b1d601e8 Updated default parameter "Vis/MinInliers=20" to be more robust on odometry recovery 2016-03-14 19:27:13 -04:00
matlabbe d6eb923bef Fixed build for C++03 2016-03-14 18:08:05 -04:00
matlabbe 5c92025742 Added Export Scans dialog 2016-03-14 17:27:53 -04:00
matlabbe 04df6ba41c Stereo: Fixed min/max depth filtering 2016-03-13 16:58:36 -04:00
matlabbe be559c181a Updated default Vis/PnPRefineIterations=1 2016-03-13 13:15:06 -04:00
matlabbe e0860dd83c Fixed build with PCL < 1.7.2 2016-03-13 12:07:05 -04:00
matlabbe 47da9014ae fixed typos (background color code tool tip) 2016-03-12 17:31:36 -05:00
matlabbe a2e6811645 CloudViewer: Added Frustum visualization 2016-03-12 17:09:01 -05:00
matlabbe 6c15cb8b25 Fixed multi-kinects keypoint projection 2016-03-11 23:27:41 -05:00
matlabbe 3cb3524aa2 RegistrationICP: adjusting maxLaserScans if voxel filtering is done 2016-03-11 20:13:24 -05:00
matlabbe 152d47e62a create2DMap: removed hard-coded max 6 meters range for unknown space filling. util3d::downsample() now returns a copy of the scane if step is larger than the scan size 2016-03-11 19:58:48 -05:00
matlabbe 48644a17f0 Statistics: Updated "LocalLoop" to "Proximity" 2016-03-11 17:54:01 -05:00
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 33525b292f Fixed qt signal warning 2016-03-10 16:50:24 -05:00
matlabbe dcc98eebb5 fixed some warnings 2016-03-10 16:41:08 -05:00
matlabbe 5f7dfb943c Source depth from scan: filling holes is now optional (though still true by default) 2016-03-10 12:31:22 -05:00
matlabbe cee9c65b06 Added image size to all camera calibration inputs. Memory::computeTransform() more fine tuning to know if data should be loaded from database. 2016-03-10 09:07:44 -05:00
matlabbe 609cc3dc59 Fixed some missing rgb conversions before descriptor extractions. RegVis: re-extracting 3D kpts if Signature.words3() and actual kpts are not the same size. Updated fast visual guess on Memory::computeTransform(). 2016-03-09 19:17:29 -05:00
matlabbe 0f477d6853 RegVis: if calibration is not found, local features matching using guess is not done, global matching is done instead. CameraModel/StereoCameraModel: added imageSize argument to constructors 2016-03-09 17:15:05 -05:00
matlabbe 49b5514319 OdomF2M: fixed initial 3D points transformed 2016-03-09 16:32:16 -05:00
matlabbe b634b34a65 Odometry: added getter previousVelocityTransform() 2016-03-09 16:04:58 -05:00
matlabbe 2a83bc7f07 Update util3d.h 2016-03-09 11:45:26 -05:00
matlabbe c4ee125f73 Building more robust OpenCV3's cv::solvePnPRansac() in OpenCV2 build 2016-03-08 19:51:50 -05:00
matlabbe e5c500fad0 Fixed scan visibility logger error when scans are not shown 2016-03-08 12:41:25 -05:00
matlabbe 62c8be40b9 Added ORB+FastGrid implementation (only with OpenCV2). Updated default parameters: Odom/GuessFromMotion=false, Vis/CorNNType=1. RegistrationVis: octave aware on features matching with motion 2016-03-08 12:31:32 -05:00
matlabbe e0b25aac8f fixed toro warnings 2016-03-07 15:15:48 -05:00
matlabbe 3ff4b4c439 fixed warnings 2016-03-07 15:03:17 -05:00
matlabbe 7a1cf84b08 OdomF2M: added support to laser scan 2016-03-06 15:11:09 -05:00
matlabbe eefd557ab4 Added parameter "RGBD/ProximityAngle" 
Updated default of GuessMotion parameters
Proximity detection by time: added guess transform based on optimized poses
RegistrationVis: ByPass OpticalFlow if no images are detected (use features matching instead if features are set)
solvePnPRansac() refining: using std dev instead of variance
Statistics panel: creating Camera/GUI/Odometry panels without the need to start detection (issue #51)
Statistics: Adding a GT panel when ground truth poses are detected with RMSE info
 2016-03-02 18:11:19 -05:00
matlabbe bcd96a97a3 Fixed not detected openni-pcl 2016-03-02 10:14:38 -05:00
matlabbe 6a84ed6bd1 Updated OdomF2M/MaxNewFeatures description 2016-03-02 10:08:42 -05:00
matlabbe 264146d8b3 OdomF2M: added Odom/KeyFrameThr=0.5 and OdomF2M/MaxNewFeatures=0 parameters. Set Odom/GuessMotion to false by default. 2016-03-01 20:47:46 -05:00
matlabbe b6fb947310 3D->3D estimation refining: using 3x sqrt(variance) instead of sqrt(9x variance). GUI: added features cloud rendering option. CloudViewer: fixed slow updateCameraTargetPosition() 2016-03-01 17:33:27 -05:00
matlabbe a89b8cb4fe Removed parameters Vis/UseDepthAsMask and Mem/UseDepthAsMask (just always do it when a depth is detected) 2016-03-01 14:40:40 -05:00
matlabbe 1f999c4d28 Explicitly show licenses of optional dependencies on CMake 2016-03-01 14:25:00 -05:00
matlabbe e6e9c61c38 RegistraitonVis: generate always 3D keypoints if possible 2016-02-29 16:41:37 -05:00
matlabbe 6d06b66496 Updated how odometry guess is done (adapt to time between timestamps) and Kalman filtering (using velocity) 2016-02-27 18:30:00 -05:00
matlabbe a8d1b91083 OdometryF2F: Fixed broken OpticalFlow approach 2016-02-24 17:42:23 -05:00
matlabbe 172e9857c7 Fixed RegistrationVis feature matching behavior when NaN 3D keypoints are found 2016-02-24 12:45:00 -05:00
matlabbe 061211b1b6 OodmetryF2M: Added getter to last frame 2016-02-23 11:46:07 -05:00
matlabbe 9e446aab7a Fixed some signed/unsigned comparison warnings 2016-02-23 11:06:24 -05:00
matlabbe af37b4b746 Disabled FAST parameters OpenCV2 related parameters in OpenCV3 2016-02-22 18:22:49 -05:00
matlabbe d7ef170d33 Added parameter "Mem/UseOdometryFeatures=false" to use directly features already extracted from odometry for the vocabulary (issue #32) 2016-02-22 17:57:40 -05:00
matlabbe ccc4b4a6c2 Parameters renamed: "OdomLocalMap" group is now "OdomF2M" for Frame to Map odometry. Visual registration feature matching: using guess transform to limit the radius of correspondences "Vis/CorGuessWinSize=16" 2016-02-22 16:13:14 -05:00
matlabbe 0d68f74d80 Fixed calibration/laser not saved when compressed images are not saved to db 2016-02-19 21:05:14 -05:00
matlabbe 081be68616 Depth16 set invalid for values = 65535 2016-02-19 18:10:32 -05:00
matlabbe 9b16d93481 Fixed broken 2D icp from 0.11.0 2016-02-19 15:10:28 -05:00
matlabbe d5538ee99d DB: loading calibration when reactivating signatures (for PnP registration without reloading compressed data) 2016-02-18 18:25:26 -05:00
matlabbe e999885f33 Fixed build error when GTSAM is not detected 2016-02-18 16:26:39 -05:00
matlabbe 62c7be9f35 Fixed odometry mesh with long edges, Optimizer/Robust is not set false because of some "solution not found" from g2o or gtsam 2016-02-18 15:23:25 -05:00
matlabbe 04d153df59 Fixed export RGB-D SLAM format 2016-02-18 14:49:56 -05:00
matlabbe 829b52db7c Added reset settings for calibration dialog 2016-02-18 14:12:12 -05:00
matlabbe 6b8ab84ba0 Intermediate node fixes for ProximityTime and detecting more loop closures in the GUI 2016-02-18 12:52:15 -05:00
matlabbe c1c62b0738 Creating a new map when variance >= 9999 is detected 2016-02-18 11:17:42 -05:00
matlabbe b09429c5d8 minor change 2016-02-17 18:30:35 -05:00
matlabbe 0a913a9cd4 Fixed segmentObstaclesFromGround() build error 2016-02-17 16:01:14 -05:00
matlabbe c6a46a7238 0.11.2: First Google Tango release 2016-02-15 19:35:24 -05:00
matlabbe 8dc01c491b Renamed uresourcegenerator tool to rtabmap-res_tool 2016-01-23 17:04:30 -05:00
matlabbe c20bebd3f0 Fixed build with PCL+OpenNI 2016-01-23 16:29:21 -05:00
matlabbe 874816b679 Updated cmake for ARM/Android build 2016-01-21 17:11:57 -05:00
matlabbe c367fe915e Added ground truth support of Karlsruhe dataset 2016-01-19 21:53:45 -05:00
matlabbe eb21280f04 Changed CameraModel::isValid() to CameraModel::isValidForProjection() for clarity (in contrast to CameraModel::isValidForRectification()) 2016-01-19 21:01:56 -05:00
matlabbe d162fcf34e Fixed a warning... 2016-01-19 18:27:58 -05:00
matlabbe 95d21a55f1 fixed build on Wisual Studio+OpenCV2 2016-01-19 18:18:53 -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 72e66605e4 Quiet find package cvsba 2016-01-17 16:01:03 -05:00
matlabbe 89ee7c9664 uIsInteger(): Added checkForSign option (default true) 2016-01-15 17:15:12 -05:00
matlabbe 35b722ba08 Added Ground truth import GPS format. Alignement between estimated and ground truth poses is done with SVD. 2016-01-15 17:05:55 -05:00
matlabbe 2d6965aa4b Fixed build with g2o on Windows 2016-01-14 17:07:01 -05:00
matlabbe 444879ffc6 Added ToolTip with color code to loop closure and odometry views 2016-01-14 15:46:54 -05:00
matlabbe 1010f6acff Fixed GraphView re-scaled when ground truth is null. PreferencesDialog: fixed a bug where some parameters were wrongly modified by default values in the *.ui (blocking signals when setParameter() is called to avoid addParameter() to be called) 2016-01-14 15:30:52 -05:00
matlabbe 2ae1b84f85 Fixed not optimized map from first node if we switch RGBD/OptimizeFromGraphEnd parameter on and off while mapping. 2016-01-14 12:44:18 -05:00
matlabbe 6cc511cb80 RtabmapThread: using stamps in odometry messages to throttle detection rate (if stamps are not set, system time is used) 2016-01-14 11:37:39 -05:00
matlabbe dc2746a365 CameraImages: Added synchronization of captrue time with timestamps 2016-01-13 18:13:44 -05:00
matlabbe f68203f529 Updated timestamps from filenames parsing 2016-01-13 16:28:22 -05:00
matlabbe 2429910188 fixed build (OdometryViewer tool) 2016-01-13 12:57:12 -05:00
matlabbe 78f47ac619 Updated some parameter group names: OdomBow->OdomLocalMap, OdomFlow->OdomF2F 2016-01-13 12:55:51 -05:00
matlabbe 3293906677 Updated default parameters: GFTT/MinDistance=5 pixels, GFTT/QualityLevel=0.001 Vis/PnPReprojError=2 pixels 2016-01-13 11:53:55 -05:00
matlabbe 136867253d Added "Vis/UseDepthAsMask" parameter (don't detect features where depth is not available or it is over "Vis/MaxDepth") 2016-01-13 09:20:15 -05:00
matlabbe f6924ba48b Fixed OdometryLocalMap fatal error if new frame has no feature 2016-01-12 17:52:54 -05:00
matlabbe 90525b75a9 Synchronized "Edit database" parameters with tmp ini file used in Main app 2016-01-12 17:07:38 -05:00
matlabbe 6928f09c87 Fixed database version=0.10.0 backward compatibility for DBDriverSqlite3::get***MemoryUsedQuery() 2016-01-12 16:43:41 -05:00
matlabbe b505b4519a PreferencesDialog: _parameters and _modifiedParameters are now private 2016-01-12 15:41:55 -05:00
matlabbe 9a0a1fbcbe MainWindow: Fixed working directory warning in monitoring mode. 2016-01-12 15:06:52 -05:00