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Author SHA1 Message Date
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
matlabbe f10c415e48 Updated panels order in Preferences dialog. MainWindow: Removed working directory warning in monitoring mode. 2016-01-12 14:54:20 -05:00
matlabbe a7387d51de MainWindow: avoiding PreferencesDialog::getAllParameters() in constructor (rtabmapviz issue) 2016-01-12 13:54:37 -05:00
matlabbe c1a5fecbc2 Updated default "Icp/Epsilon" to 1 mm 2016-01-12 12:29:10 -05:00
matlabbe f39646567a Fixed build error in CameraRGB with OpenCV<3 2016-01-12 12:25:23 -05:00
matlabbe 5136b38111 MacOSX: (g2o) Fixed cholmod library not found. New ICP parameter: "Icp/Epsilon". Fixed null ICP_inliers_ratio with odometry statistics. 2016-01-12 11:37:50 -05:00
matlabbe 42e1590abe Added util3d::projectCloudToCamera() method (creating a registered depth image from the laser scan), used for "Generate depth from scan" option of CameraImages 2016-01-11 17:21:06 -05:00
matlabbe 94adc6fa1b DbViewer: added ground truth coordinate (when available) in constraints view 2016-01-10 13:07:42 -05:00
matlabbe 182fe5f1d2 DbViewer: fixed reversed "Generate laser scan from depth" option 2016-01-10 12:57:49 -05:00
matlabbe 75f85f6b2a Added new options to filter source laser scans. 
SensorData can support laser scans CV_32FC6 format (point cloud with normals). Refactored RegistrationICP and updated CloudViewer to show PointNormal data.
Fixed bug with stereo clouds deterioration if decimation is set (CameraModel::scale()).
 2016-01-08 19:15:49 -05:00
matlabbe e7565db5d0 0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present). 2016-01-07 19:39:21 -05:00
matlabbe b8c9f32fd8 MainWindow: added "Edit->Anchor clouds to ground truth" action. Graph::importPoses() Fixed error when loading RGBD-SLAM poses. 2016-01-07 15:48:18 -05:00
matlabbe 78b37a4b0d Fixed RGBDImages paths not shown in Preferences 2016-01-07 14:47:32 -05:00
matlabbe 6d399b6fb9 Refactoring Odometry 2016-01-07 13:59:21 -05:00
matlabbe 923ba78bfa Updated Odometry documentation in Preferences dialog 2016-01-06 17:53:40 -05:00
matlabbe 28d9bbb85d Refactoring Registration: added RegistrationInfo class, pipeline registration. Camera source: create laser scan from depth image. Removed OdometryICP as the same behavior can be achieved with OdometryF2F and "Reg/Strategy" = 1 (ICP) or 2 (Vis+ICP). 2016-01-06 17:26:55 -05:00
matlabbe 1c66ad1db2 MainWindow: config file is cleared before saving settings (to avoid keeping old parameters in the ini file that would trigger a "parameter migration" at each startup) 2016-01-05 16:57:13 -05:00
matlabbe c064e373e9 Merge branch '0.11.0' of github.com:introlab/rtabmap into 0.11.0 2016-01-05 16:37:27 -05:00
matlabbe 703b7181d9 Refactoring: Split Odometry classes in multiple headers. Added Odometry::create(type) for convenience, working with "Odom/Strategy" parameter. Renamed OdometryBOW to OdometryLocalMap (more descriptive name). 2016-01-05 16:37:14 -05:00
matlabbe 389d29ebf5 fixed Ubuntu build 2016-01-05 15:44:34 -05:00
matlabbe 2108f449b3 fixed Windows build 2016-01-05 15:29:29 -05:00
matlabbe 1b2f1baf3d Fixed wrong type of RegistrationVis::_PnPrefineIterations member 2016-01-05 15:12:08 -05:00
matlabbe 97dd9bb7d5 Added printThreadId option in ULogger 2016-01-05 13:55:21 -05:00
matlabbe bf2bd3fe50 Added version to CMake info. Fixed build WITH_CVSBA. 2016-01-04 16:33:34 -05:00
matlabbe a403a5b7d8 Fixed rectify flag not reset in CameraStereoImages::init() 2016-01-04 12:45:20 -05:00
matlabbe 72101a6d46 Modified default "Stereo/MinDisparity" to 1 2016-01-04 12:17:02 -05:00
matlabbe 9b6d662aaf Rtabmap::parseParameters(): Re-using old parameters (if not updated) when graph optimization approach is re-created. 2016-01-04 11:48:48 -05:00
matlabbe b578fc732e Fixed Stereo parameters not used for OdometryBOW. Saving parameters in Memory and Feature2D to re-use old parameters when underlaying algorithm strategies are re-created. 2016-01-04 11:41:13 -05:00
matlabbe 51300dde06 Fixed PnP in OpenCV3: added parameter Vis/PnPRefineIterations (default 1) 
CameraRGBDImages: Fixed calibration not loaded
Fixed loading ground truth from RGBD-SLAM format
MainWindow: added ground truth paths in CloudViewer and GraphViewer
 2015-12-22 19:32:52 -05:00
matlabbe 2e9634cf65 Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction. 
Added Feature2D::generateKeypoints3D() for convenience.
Added parameter "Vis/PnPOpenCV2".
Added parameter "Vis/ForwardEstOnly".
Removed OdometryOpticalFlow class, replaced by OdometryF2F (frame-to-frame). To get the same previous OpticalFLow approach, parameter "Vis/CorType" should be set to 1.
Some parameters under group "OdomFlow/..." are now under "Vis/CorFlow...".
In Registration class, add computeTransformationMod() method to modify input signatures.
Added constructor Signature(SensorData) for convenience.
Modified words multimap used with cv::Point3f instead of pcl::PointXYZ to limit the use of PCL headers where they are not really required.
Added Stereo::create() for convenience.
Transform: fixed quaternion constructor where data_ was not initialized. Added parentheses operator for convenience.
DatabaseViewer: loading .rtabmap/rtabmap.ini instead of .rtabmap/dbViewer.ini when used from rtabmap application. Added vertical layout option for convenience.
MainWindow: fixed wrong Odometry speed values
ParametersToolBox: using QStackedWidget instead of a QToolBox for space, added "Restore Defaults" button.
 2015-12-21 17:27:05 -05:00
matlabbe 3292fb1146 Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path. 
Added graph::importPoses().
Can now have a ground truth published with SensorData (filled optionally by CameraImages classes).
Increased database closing time performance when the database is not saved.
Added ParametersToolBox widget in DatabaseViewer for core parameters (refactoring done to make easy access to all rtabmap parameters in DatabaseViewer).
Added Parameters::getType(key).
Added Transform::interpolate() to interpolate between two transforms (SLERP)
Updated pf_filter.m and added test_pf_filter.m MATLAB scripts (making easier to compare with a ground truth)
UPlot: can now save all curve data of a figure in one action (see right-click on legend area->"Copy all curve data to clipboard")
 2015-12-17 14:13:19 -05:00
matlabbe f5c062448d Odometry: Added Kalman Filtering option 2015-12-14 16:50:17 -05:00
matlabbe 82d76f3e99 Merge branch 'master' of https://github.com/introlab/rtabmap into 0.11.0 2015-12-11 17:44:36 -05:00
matlabbe 9cc94ce1e6 Added Stereo and StereoDense base classes (with Stereo->StereoOpticalFlow and StereoDense->StereoBM) to handle easily stereo parameters. Added stereoEval tool to test Stereo/OpticalFlow=false or true. Added StereoBM parameters. Refactoring of the Preferences dialog (tree view order and some titles) 2015-12-11 17:44:15 -05:00