matlabbe
8b67633b34
Refactored Odometry class:
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-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
f251b64310
Added GFTT detector which can be used for Odometry
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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
29097c023e
Changed license to BSD
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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
52af62394e
OdometryICP: added p2p (point to point) option
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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
f34907f92f
Added optimizeFromGraphEnd (default true) parameter. It can be used to keep the map referential from the oldest node in the current graph
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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1441 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-06-25 23:00:35 +00:00
matlabbe
65b79cd7a2
Refactored OdometryBOW class to handle binary descriptors too (removed OdometryBin).
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Odometry: added "local map history" option to increase precision
Added new Nearest neighbor options (LSH, brute Force, GPU brute Force)
Added FREAK/ORB features
Increased version to 0.6.5
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1431 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-06-22 03:33:56 +00:00
matlabbe
c18f1501d4
Refactoring CameraRGBD class (now including OpenNI, OpenNI2, OpenNI from OpenCV and Freenect)
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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
df0f9d60d5
Added a quality odometry threshold, turning the background yellow when the mapping area has too low features
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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1334 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-06-06 18:06:49 +00:00
matlabbe
ac626a846e
removed ImagesDbExtractor tool (already inside databaseViewer)
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add optional delay to DBReader
added more options to odometryViewer tool
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1264 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-02-28 22:11:36 +00:00
matlabbe
983cbc3bac
Added install targets for dataRecorder and odometryViewer
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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1084 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-02-17 16:18:24 +00:00
matlabbe
8b8511e154
Merged pcl_integration branch to trunk
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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
2013-12-11 00:12:44 +00:00
