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776 Commits 29 Branches 163 Tags
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403 Commits

Author SHA1 Message Date
Mathieu Labbe
645d2c4973 Saving ExportCloudsDialog and PostProcessing parameters to config file. 2015-01-14 11:02:17 -05:00
Mathieu Labbe
fb0b23ae06 saving CloudViewer settings (Camera,Trajectory,Grid) in the config file 2015-01-13 18:11:34 -05:00
Mathieu Labbe
6bd2a0926b Split RawDataKept parameter into Raw and Binary parameters to save RAM when keeping raw data in the core is not required 2015-01-12 18:23:25 -05:00
Mathieu Labbe
cdb1e29d45 Fixed not working "Insert data in GUI cache" when disabled 2015-01-12 17:43:42 -05:00
Mathieu Labbe
cd3bd2948e fixed checked/unchecked actions of menu "Select Source..." 2015-01-12 16:53:18 -05:00
Mathieu Labbe
74d6f9c83d Fixed not unchecked Auto-Screenshot when cancelled 2015-01-12 15:39:33 -05:00
Mathieu Labbe
05ee9a7b84 fixed odometry "empty image?" error when reading from database with 
stereo images, fixed databaseViewer fatal error when there are null
poses
 2015-01-08 16:12:45 -05:00
Mathieu Labbe
db382d6149 removed milliseconds from saved file name, fixed reset all settings of childrend of a groupbox which is also a prameter 2015-01-07 17:51:15 -05:00
matlabbe
7f7d05e243 The graph is also sent in appearance-only mode. Added posterior hypotheses color on the graph view. Some minor fixes. 2015-01-07 17:30:20 -05:00
matlabbe
a979216fc1 Added tiff as image type supported, fixed a crash on Mac OS X Maverick when showing the GraphView 2015-01-06 10:53:43 -05:00
Mathieu Labbe
e4012bf932 Merge branch 'cmakeinstall' of https://github.com/aballier/rtabmap 2014-12-19 11:10:07 -05:00
Mathieu Labbe
86a6fe202c rtabmap: 
-Fixed map id not incremented on Odometry reset (identity transform was missed)
-Keeping maximum odometry variance between two loop closure updates
Odometry:
-removed parameters Odom/FeaturesRatio, Odom/LinearUpdate, Odom/AngularUpdate
-added parameter Odom/FillInfoData
-expended OdometryInfo class with features stuff
Gui:
-show inliers/outliers features in Odometry view
 2014-12-18 16:54:46 -05:00
Alexis Ballier
d8db777d7c Use standard CMAKE_INSTALL_{BIN,LIB}DIR instead of INSTALL_{BIN,LIB}_DIR. 
Overriding the latters caused me to see these files installed in ${DESTDIR}/${BUILD_DIR}
 2014-12-17 17:44:47 +01:00
Mathieu Labbe
744e2fb3c7 Updated version to 0.8.0 
Libraries are installed in lib directly with symbolic links, not in lib/rtabmap-0.8. Removed the need of RPATH in cmake.
Saving variance of each link in database (new field Link.variance). The variance is used to generate the constraint information matrices for TORO optimization.
ICP: computing variance instead of fitness.
ICP3: added correspondences ratio parameter
Added OdometryInfo class
Refactoring: renamed depth2d stuff to laserScan. rtabmap::Memory and rtabmap::Signature classes (no more distinct neighbor, loop closure or child loop closure links, only links with different types)
 2014-12-14 16:42:10 -05:00
Mathieu Labbe
9287570b71 Updated library install directory, removing explicitly setting RPATH 2014-12-09 20:17:03 -05:00
Mathieu Labbe
821c1602bf MainWindow: don't save empty database. Odometry: return null pose when not initialized. 2014-12-03 22:27:31 -05:00
Mathieu Labbe
9e1d38fe09 added Odometry view to MainWindow, increased version to 0.7.3 2014-12-02 17:01:24 -05:00
Mathieu Labbe
e62b1e2769 changed all WITH_NONFREE to RTABMAP_NONFREE == 1 2014-11-28 15:45:00 -05:00
Mathieu Labbe
4fd9361bba updated links in about dialog 2014-11-27 16:02:42 -05:00
Mathieu Labbe
879f86254e fixed corrupted exported mesh 2014-11-25 10:20:30 -05:00
matlabbe
374ef280f2 If OpenCV nonfree module is not found, RTAB-Map will still build but with disabled SURF/SIFT options. Default BOW dictionary will be ORB in this case. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2071 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-21 23:37:23 +00:00
matlabbe
08d0bc4ad5 MainWindow->start detection: fixed error msg on CameraOpenNI2::setExposure when exposure/gain parameters are not available 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2070 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-21 21:36:00 +00:00
matlabbe
3dfbde3b0d OpenNI2: added parameters to control autoWhiteBalance and autoExposure 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2056 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-20 22:00:47 +00:00
matlabbe
57dec696cf fixed not uncompressed depth2D when restarting rtabmap with a prebuilt map for icp constraints 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2053 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-20 16:20:21 +00:00
matlabbe
faf43cc82c Odometry: added force2D option 
Changed parameter RGBD/ScanMatchingSize to RGBD/PoseScanMatching

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2050 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-19 23:38:15 +00:00
matlabbe
89bcea3057 DatabaseViewer: fixed update of constraintView when moving the image sliders. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2049 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-17 22:31:04 +00:00
matlabbe
fe20e03afb GUI: export clouds in binary mode by default 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2007 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-14 22:07:03 +00:00
matlabbe
a52536e209 DatabaseViewer: set default stereo parameters instead of hard-coded ones 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2002 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-14 19:07:06 +00:00
matlabbe
18596b9627 updated some default parameters mostly related to stereo odometry (flow, stereo, bayes prediction, likelihood tf-idf) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1995 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-13 22:28:59 +00:00
matlabbe
ae3947988d gui: ui update 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1985 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-12 16:44:17 +00:00
matlabbe
7efc6aab2d added EpipolarGeometry::triangulatePoints() (LS and iterative LS) 
Added option to see words3d in constraint view

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1974 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-07 20:04:04 +00:00
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
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
91a6799a40 DatabaseViewer: added action refine links visually 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1961 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-03 19:14:02 +00:00
matlabbe
61ce7c4274 databaseViewer: enabled refineICP for stereo images 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1960 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-03 18:44:21 +00:00
matlabbe
4140e883b5 typo... 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1958 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-03 13:53:54 +00:00
matlabbe
a3b29eaf4f updated default source input rate to 30Hz 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1955 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-02 15:21:48 +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
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
eace13b7a8 GUI: Don't backup empty database... 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1936 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 14:13:53 +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
850c277dac updated default Source database directory to working directory when empty. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1934 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 04:25:15 +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
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
c5d1770d84 fixed not all graph nodes visible of the current map in GraphView 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1906 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-20 21:56:37 +00:00
matlabbe
a75136fb9b increased default source rate to 30Hz 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1900 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-20 20:13:02 +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