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69ad085f882191b2eb32cfcfb19270746847e3fc
Commit Graph

48 Commits

Author SHA1 Message Date
matlabbe
69ad085f88 -Added the grid map in the 3D map view (pcl::TextureMesh, available only when pcl>=1.7.2). Refactored how 2d maps are created. 
-Fixed export grid map on Mac OS X.


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1623 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-29 21:48:37 +00:00
matlabbe
a81f5785a2 Added Export scans and View scans menu actions, fixed occupancy grid voxel size export 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1622 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-29 14:11:08 +00:00
matlabbe
51b5a91c6a Refactoring of Export/View actions: 
Added ExportCloudsDialog class for convenience when Viewing or Exporting clouds/meshes
Added Export grid map action
Clouds shown in the 3D Map view can be directly saved without cloud regeneration.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1621 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-29 00:52:35 +00:00
matlabbe
f090c81aaf Added CalibrationDialog in Preferences->source for convenience. The database is also changed to handle new FX, FY, CX and CY intrinsic parameters instead of only depthConstant parameter. Added version of the database in a new table Admin. Updated to version 0.7.0. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1613 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-26 04:36:00 +00:00
matlabbe
1557b3d44d ubuntu 14.04 printf error (missing #include <stdio.h>) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1612 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-25 18:41:50 +00:00
matlabbe
c1497d9e92 added CalibrationDialog class and Calibration tool app 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1587 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-22 22:22:59 +00:00
matlabbe
7cfb985478 GUI: ask for MLS when saving or viewing high res clouds (added parameter values in progress dialog) 
Source: added focalLength parameter for RGBD camera (if not null, it will override the value from the camera)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1557 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-14 01:25:28 +00:00
matlabbe
87d1e4b52a updated util3d::create2dMap() with filling unknown space option (default true) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1453 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-03 20:16:39 +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 
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
7b0a34b150 Save/view high-res point clouds depending on the visible clouds in Map view (only those checked in MapVisibility view) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1437 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-23 20:43:08 +00:00
matlabbe
ad04fed7e6 Added Database recorder menu option 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1433 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-23 00:26:14 +00:00
matlabbe
65b79cd7a2 Refactored OdometryBOW class to handle binary descriptors too (removed OdometryBin). 
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) 
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
a943083e0b Added OpenNI2 camera 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1363 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-13 23:44:38 +00:00
matlabbe
0bba363f5f Added CameraRGBD with openni from OpenCV, removed feature2D stuff from Camera 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1358 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-13 03:47:39 +00:00
matlabbe
df0f9d60d5 Added a quality odometry threshold, turning the background yellow when the mapping area has too low features 
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
0fc6228b4f Added some parameters for mesh reconstruction 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1315 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-03 19:28:59 +00:00
matlabbe
acd208fc6a Added Freenect camera source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1310 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-03 04:42:08 +00:00
matlabbe
8286919750 Standalone version: -fixed ICP odometry selection, -install of rtabmap-databaseViewer 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1286 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-04-02 15:51:02 +00:00
matlabbe
ac626a846e removed ImagesDbExtractor tool (already inside databaseViewer) 
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
669e7363cc database viewer: added method generateTOROGraph() 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1253 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-27 17:00:46 +00:00
matlabbe
983cbc3bac Added install targets for dataRecorder and odometryViewer 
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
8d863b21d5 Added visualization cloud filtering 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1077 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-13 21:32:46 +00:00
matlabbe
ea570abb8c New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid) 
New parameter: RGBD/ToroIterations=100
Rtabmap: added getGraph() method to get TORO poses/link constraints
Fixed ICP correspondences ratio over 1
CloudViewer: added frustum culling and camera view up z lock in render(), moving camera using arrow keys, Menu options: Camera far plane clipping, background color
DatabaseViewer: added 3D Map view and Graph view
MainWindow: Moved main widget (loop closure image status) to a dock widget, added Graph view.


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1075 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-11 23:04:22 +00:00
matlabbe
22e3082adc Increased version to 0.6.2 
Memory management tested on RGBD SLAM
Fixed some crashes
New parameter RGBD/LocalLoopDetectionMaxDiffID
New parameter LccIcp2/VoxelSize
Updated parameter LccIcp/Type (added "No ICP" type)
Updated parameter kLccBowMinInliers (inliers minimum reduced to 1)
TORO optimization: The graph root is explicitly defined as the last node added (fixed a TORO crash when a root could not be found)
TORO optimization: only one constraint between neighbors and loop closures
TORO optimization: added initial tree guess
Map correction/Map transform: now only used in localization mode (map correction is always identity on mapping mode)
New statistics: local loop space diff, last loop closure parent and child ids
Database: Fixed empty signatures with no poses loaded
ICP: fixed transform multiplication order
Dump memory: added 3D words
DatabaseViewer: added Export option (added ExportDialog object)
DataRecorder: Option recording in RAM or Hard drive
GUI: added a dock widget (MapVisibilityWidget) to change visibility of nodes in the 3D map
GUI: fixed progress bar step count when generating the map
Menu option: generate TORO graph (full/current map, optimized/not optimized)
Menu option: download map (full/current map, optimized/not optimized)
Preferences: added Reset all settings button
Preferences: A QGroupBox can be a boolean parameter

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1066 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-22 19:49:28 +00:00
matlabbe
2489397b49 DatabaseViewer: reading database on hard drive for each image instead of loading the whole database in RAM. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1064 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-15 21:01:37 +00:00
matlabbe
4a150e3215 fixed delete database action when memory is not yet initialized, enabled gpu SURF option when available 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1055 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-14 02:43:26 +00:00
matlabbe
3eeb911c33 Removed ResetMemory action, disabled viewMesh action when there is no cloud received 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1053 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-13 15:41:21 +00:00
matlabbe
1c3f78f2d6 fixed Win32 build (VS2010) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1050 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-12 22:36:56 +00:00
matlabbe
82cddd1ed1 fixed some compilation errors after the merge 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1021 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-11 01:16:45 +00:00
matlabbe
8b8511e154 Merged pcl_integration branch to trunk 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-11 00:12:44 +00:00
matlabbe
b92d0444ac Included UtiLite library directly in Rtabmap source (to simplify the installation) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@855 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-04-30 20:16:01 +00:00
matlabbe
00ac36747e rtabmap: removed all UtiLite include references for main RTAB-Map classes (to avoid linking to UtiLite when using RTAB-Map as c++ library) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@811 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-02-04 16:38:00 +00:00
matlabbe
47bd83b71d rtabmap: PreferencesDialog: getIniFilePath() is not static anymore (can be inherited) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@790 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-29 20:26:56 +00:00
matlabbe
1efc675521 Added PrintLoopClosureIDs action to Edit menu 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@664 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-12-11 19:41:44 +00:00
matlabbe
2836d4c48c merged attention branch to trunk 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@657 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-12-11 18:05:05 +00:00
matlabbe
fe8e261fc6 Updated error messages in Preferences dialog 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@572 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-06-26 14:57:31 +00:00
matlabbe
17b8e10ed8 Merged Audio branch to trunk 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@560 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-06-24 17:19:34 +00:00
matlabbe
a2eb8bcab6 MERGE branch STM 325:449 into trunk 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@450 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-03-03 01:46:30 +00:00
matlabbe
4a3317dd06 Removed DisableReactivation parameter (indirectly included by the RetrievalThr when = to 1) 
Some default parameters' values modified for robot learning

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@316 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-09-16 17:37:54 +00:00
matlabbe
649153e1df Cleanup gui 
Fixed crash when a new location (B merged with previous location A through rehearsal) and then loop on a location already merged with the location A (which is not anymore in WM)
Updated rejected hypothesis tag

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@299 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-07-23 03:55:05 +00:00
matlabbe
e75f0bff66 Setup rtabmap working directory on launch (so delete action works on startup even if the working directory is not the default one) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@293 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-30 17:48:14 +00:00
matlabbe
b01f3191fa Added option in GUI to show image of the highest hypothesis 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@95 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-10 14:04:06 +00:00
matlabbe
9b4cf9cf5f Updated the progress dialog when reading parameters (mostly for lags when reading from thr rosparam server) 
Added a splash screen for the same reason (parameters are also loaded on startup)

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@90 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-09 13:57:01 +00:00
matlabbe
96681b8029 Added a init() method in PreferencesDialog 
Fixed virtual method declarations in PreferencesDialogROS

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@88 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-09 12:51:13 +00:00
matlabbe
4ceeb78c8b reverted rawImageSizeCaptured parameter... (because OpenCV has already a default so native image over 640x480 cannot be extracted) 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@68 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-07 15:42:41 +00:00
matlabbe
450aef86f7 Added rawImageSizeCaptured parameter for Usb source device 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@63 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-07 15:01:39 +00:00
matlabbe
2d73090f3a moved rtabmap-ros-pkg project in this project 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2011-06-05 14:45:39 +00:00