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Author SHA1 Message Date
matlabbe
35db51419e GraphViewer: added gridCellSize parameter (default 5cm/pixel) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1341 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-09 20:47:35 +00:00
matlabbe
4fa947b7a6 Added cloud smoothing (MLS) to save clouds 
Modified saving questions to yes for merging clouds before saving or meshing

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1335 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-08 05:16:14 +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
363901cfe4 default vertical layout for loop closure detection dockwidget 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1333 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-05 18:56:15 +00:00
matlabbe
70e0b0ae13 modified default About dialog size 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1332 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-05 17:39:53 +00:00
matlabbe
97e1743628 updated small versions of icons 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1331 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-05 15:55:59 +00:00
matlabbe
1e9f612d25 Added new icon 
Fixed compilation error (not found uint32_t) on Windows

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1330 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-05 15:21:33 +00:00
matlabbe
da74718393 added opencv nonfree component required 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1328 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-05 13:46:01 +00:00
matlabbe
bb5e5c0084 Made Freenect dependency optional 
fixed some toro3d warnings

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1327 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-04 20:24:54 +00:00
matlabbe
0d437d22d7 modifed default source rate to 10Hz 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1326 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-04 18:59:25 +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
b875d8f7be Added default format "ply" when saving clouds and meshes 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1314 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-03 17:34:31 +00:00
matlabbe
61f026071e Fixed libfreenect.h not found error when compiling the rtabmap-gui lib 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1313 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-03 14:26:30 +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
c53d918422 reduced Preferences dialog init size 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1296 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-05-05 15:27:33 +00:00
matlabbe
e6f24dfcc5 Fixed some size_t/int warnings. 
Fixed compilation error on Windows for ExtractObject tool (include pcl_ros/transform.h missing).

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1295 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-05-05 15:18:41 +00:00
matlabbe
2d7ba1b9f4 updated utilite UConversion.cpp src 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1291 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-04-11 22:07:31 +00:00
matlabbe
4c53972dc8 Changed default for parameters OdomMinInliers=10 and OdomInlierDistance=0.01 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1289 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-04-03 20:16:47 +00:00
matlabbe
491553a80f Added parameter KpMaxDepth to limit the features extracted under a specified maximum depth. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1288 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-04-03 19:59:46 +00:00
matlabbe
1b6a8b93cb Added rtabmap-extractObject tool to extract objects laying on a plane, doing required transform to make sure that the plane and objects are transformed to (0,0,1) axis 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1287 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-04-03 15:56:01 +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
d3b3c6ca3f removed some not used references to external UtiLite 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1273 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-03-04 21:59:16 +00:00
matlabbe
9a9431496b updated variables of RTABMapConfig.cmake to not interfere with those from standalone UtiLiteConfig.cmake (catkin issue) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1271 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-03-04 20:39:57 +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
24eeec3e26 updated default rehearsal similarity to 0.6 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1193 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-26 16:52:43 +00:00
matlabbe
eea38736b4 Fixed some bugs on Windows... 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1179 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-25 21:07:32 +00:00
matlabbe
f4a215c5a3 updated rgbd example with rtabmap rate to 1 hz 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1161 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-24 21:23:38 +00:00
matlabbe
30981b102e Added c++ example of RTAB-Map RGB-D version 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1152 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-24 21:04:02 +00:00
matlabbe
510e9cab89 Removed optimizeCurrentMap() on rtabmap initialization when not in RGBD mode 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1136 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-20 20:46:12 +00:00
matlabbe
931cc740c7 changed 2D ICP dropping 3DOF values comment log level 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1127 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-19 19:07:49 +00:00
matlabbe
b44e01a3bb New parameters: max accepted ICP translation error, new map on large odometry error 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1126 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-19 19:00:38 +00:00
matlabbe
5dbf6678ce refactoring: terms "current" and "full" changed for "local" and "global" respectively 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1122 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-17 22:58:46 +00:00
matlabbe
260493ac8f fixed parameter LccIcp/Type description 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1120 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-17 22:12:33 +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
df3d694829 Removed sqlite3 dependency (now building it directly in source, making installation easier between x86 and x64) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1074 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-24 21:42:35 +00:00
matlabbe
c053a999b4 some changes in 3d rendering properties... opacity, point size 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1073 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-23 01:06:39 +00:00
matlabbe
29d377135e Fixed a bug when switching from BadSignaturesIgnored=false to true (if bad signatures were saved before the switch) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1070 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-22 20:42:14 +00:00
matlabbe
b5f74daaea Set parameter Mem/BadSignaturesIgnored to default "false" 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1068 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-22 20:15:55 +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
b8c6014ed2 Added badSignaturesIgnored parameter, set to false will keep bad images in memory and in the map's graph (useful on RGBD-SLAM with TORO optimizations to propagate more equally errors to nodes with blank images) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1063 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-15 20:41:58 +00:00
matlabbe
11eed189c9 Retrieved data are now included in the rtabmap info message 
Map transform is only defined with the last loop closure for localization mode: on loop closure between two maps, there is only a TORO link added between the locations (no need to keep the transform between the maps) 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1058 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-08 16:11:00 +00:00
matlabbe
6fc712c15d Fixed an odometry crash when there is only 1 word in the dictionary (and NNDR is activated) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1056 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-17 22:36:09 +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
a3c0158650 added missing sqlite3.dll (MSVC build) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1054 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-13 16:18:57 +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
4da46f5e1e fixed RPATH 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1052 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-13 01:11:19 +00:00