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651 Commits 29 Branches 163 Tags
3b226a0d925196d0485d4a17ead3090f1a64a92d
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386 Commits

Author SHA1 Message Date
matlabbe
3b226a0d92 fixed fatal error (fx==0) on kinect v2 calibration, added tx,ty,tz to camera local transform in Preferences 2015-07-09 10:01:41 -04:00
matlabbe
bf4715b73c fixed fatal error (fx not defined) on stereo camera calibration 2015-07-08 15:44:49 -04:00
Mathieu Labbé
dc48b4d4f4 some fixes for CameraFlyCapture2 driver on Windows, fixed OdometryMono with stereo cameras 2015-07-06 17:25:38 -04:00
matlabbe
fce1816c21 added subtractFiltering() method to filter point clouds by subtracting the previous cloud 2015-06-29 00:19:45 -04:00
matlabbe
4f96fd3530 Version 0.10.1: user_data is now a cv::Mat to avoid a deep copy when SensorData is copied 2015-06-28 19:22:18 -04:00
matlabbe
b7faef35f1 Refactored motion estimation parameters in the GUI. 2015-06-27 01:43:29 -04:00
matlabbe
e5447be23a Refactored 3DTo2D and 3DTo3D motion estimations (Memory and OdometryBOW are now using the same methods) 2015-06-27 00:08:52 -04:00
matlabbe
6df403ed42 Refactored Camera classes and Preferences->Source menu 2015-06-26 18:21:32 -04:00
matlabbe
6f1df94b18 Merge branch 'devel' of github.com:introlab/rtabmap into devel 2015-06-25 16:05:06 -04:00
matlabbe
01f2f1348c Added OdomBow/FixedLocalMapPath parameter 2015-06-25 16:04:42 -04:00
matlabbe
ad23421c9b Removed odometry warning when some frames are ignored (when camera rate is faster than odometry) 2015-06-24 20:32:46 -04:00
matlabbe
817906d608 DBViewer: added stereo images extraction 2015-06-24 20:20:27 -04:00
matlabbe
cdb59371d7 Added debug info for time required to get links from database when planning 2015-06-22 14:55:32 -04:00
matlabbe
91a4506956 Small refactoring of the Bayes filter 2015-06-22 13:55:15 -04:00
matlabbe
87063cf357 Added "Cancel goal" action 2015-06-21 20:16:56 -04:00
matlabbe
a5efee20bc Using Dijkstra for global planning for a significative performance boost (no need to optimize the graph before computing the path) 2015-06-21 18:29:12 -04:00
matlabbe
b0a20abd66 Merge branch 'master' of https://github.com/introlab/rtabmap into devel 2015-06-18 23:04:14 -04:00
matlabbe
6fe1e42181 Added OpenCV 3 support 2015-06-18 23:00:46 -04:00
matlabbe
82943e85e8 Fixed PnP camera matrix empty when computing loop closure. Updated odometry nonholomic motion estimation (using arc around ICR). 2015-06-18 01:24:19 -04:00
matlabbe
e9bb80abcc Merge branch 'devel' of https://github.com/introlab/rtabmap into devel 2015-06-17 23:39:06 -04:00
matlabbe
a765e2efa7 Merge branch 'master' of https://github.com/introlab/rtabmap into devel 2015-06-17 23:38:49 -04:00
matlabbe
aa4005b266 fixed build with the latest version of freenect2 2015-06-16 18:51:45 -04:00
Mathieu Labbe
50eeda5b95 merged multicamera branch into devel branch 2015-06-16 17:41:51 -04:00
Mathieu Labbe
039ae45d57 merged master to multicamera branch 2015-06-16 13:37:33 -04:00
matlabbe
6a7a9fb9b0 reverted modif on z when honolonomic but added modif on yaw depending on the estimated y value 2015-06-16 10:50:49 -04:00
matlabbe
7cd0d0cd53 holonomic option: makeing z depending on x and pitch too if nonholonomic 2015-06-16 08:50:32 -04:00
matlabbe
53f7719655 Added odometry honolomic parameter 2015-06-15 20:53:31 -04:00
matlabbe
dfbf6e721e Refactored OdometryOpticalFlow (added optical flow guess using previous odometry transform, merged stereo/depth stuff) 2015-06-15 14:44:44 -04:00
matlabbe
b8dccc2228 Added CameraStereoImages class to read stereo images from a directory. Added a particle filter to smooth odometry trajectory. Added parameter RGBD/OptimizeEpsilon to limit TORO iterations when error improvement is small. Added Rtabmap/CreateIntermediateNodes parameter: this can be used to keep all odometry poses 'between' nodes used for loop closure detection. Added PnP approach to loop closure constraint estimation. Fixed decimation of stereo images when image size is odd. 2015-06-11 16:57:16 -04:00
matlabbe
feba562c1b Updated logged statistics 2015-06-08 10:53:56 -04:00
Mathieu Labbe
7d72aa83bc fixed sensor data not loaded on 0.10.0 database version 2015-06-06 19:20:38 -04:00
Mathieu Labbe
bd9fb1027b Added util3d::laserScanFomrDepthImage() and some refactoring 2015-05-31 01:26:57 -04:00
Mathieu Labbe
9e13642a47 fixed runtime errors for single depth camera and stereo 2015-05-30 20:05:35 -04:00
Mathieu Labbe
c5046df226 merged master to multicamera branch 2015-05-29 14:54:49 -04:00
Mathieu Labbe
c6d0d47b1c Added multi-camera feature 2015-05-29 14:46:48 -04:00
matlabbe
ec8946dc2f Avoid filling node info stuff when getting the graph for optimization 2015-05-27 19:50:48 -04:00
matlabbe
ece3915b10 fixed colored loop closure detection rect when no images are in GUI cache. Modified some logged info. 2015-05-27 19:02:27 -04:00
Mathieu Labbé
d273ce1094 Fixed windows build 2015-05-26 16:27:54 -04:00
Mathieu Labbe
8e26219e92 Fixed new map trigger from Identity odom when DetectionRate=0 and BufferSize=0. MainWindow: fixed overwritting database on close 2015-05-21 09:16:13 -04:00
matlabbe
c47abaaa44 fixed build errors of CameraFreenect2 with the new util3d headers 2015-05-20 15:42:56 -04:00
Mathieu Labbe
9fde57843f Increased version to 0.9.0. Refactoring: Split util3d.h into multiple files util3d_****.h to reduce compilation time. Also removed all PCL templates to reduce memory used while compiling. 2015-05-13 19:54:23 -04:00
Mathieu Labbe
b54ff8547e Planning: abort plan when nearest pose on the path is not found, only keep the latest virtual link on the current path index 2015-05-12 13:29:00 -04:00
matlabbe
04bd596705 Planning update: remove virtual links up to current path index 2015-05-11 15:48:27 -04:00
matlabbe
7aaa4698d5 Added estimation loop closure hypothesis on small displacements, but only if the previous signature doesn't have a loop closure 2015-05-08 11:00:50 -04:00
matlabbe
3642e2fbf1 CameraRGBD: Removed framerate warning when set to 0 (inf) 2015-05-06 17:38:14 -04:00
Mathieu Labbe
1f8fc91f46 fixed DatabaseViewer Export's options 2015-05-06 13:05:32 -04:00
Mathieu Labbe
146c12f51a Merge branch 'master' of github.com:introlab/rtabmap 2015-05-06 00:30:16 -04:00
Mathieu Labbe
4927b56939 Updated local loop closure detection in space and path planning for Localization mode. 2015-05-06 00:29:54 -04:00
matlabbe
b5e62be664 Freenect2: added new type Ir+Depth (RTAB-Map can be used without lightwith the Kinect v2) 2015-05-05 19:32:09 -04:00
Mathieu Labbe
679d9deca0 Added message box when calibration cannot be done on a specified driver. Added HD option in Source panel for Freenect 2. 2015-05-05 18:21:43 -04:00