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401 Commits

Author SHA1 Message Date
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
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
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
4fd9361bba updated links in about dialog 2014-11-27 16:02:42 -05:00
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
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
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
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
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
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
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
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
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
matlabbe
b97426c83d fixed warning of logStatisticsHeader parameter not set in Preferences 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1898 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-18 13:12:45 +00:00
matlabbe
fcd3301665 Stereo! The memory can now handle directly stereo images. Disparity can be computed on the fly by keeping left and right images, so for features extraction (and for re-extraction on loop closure), we can compute 3D points precisely. New parameters can be found under "RGB-D Mapping->Stereo". Full image disparity is reconstructed in the GUI (not the core). 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1861 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-16 00:14:23 +00:00
matlabbe
22ce2525fc Added parameter Kp/NewWordsComparedTogether for dictionary, always true but when comparing loop closures with Reextracting features, it is set to false to save time. 
fixed crash when calling getMap without rtabmap yet initialized.
Parameter "LccReextract/LoopClosureFeatures" is now named "LccReextract/Activated"


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1855 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-14 21:48:50 +00:00
matlabbe
07f4edff3b databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1853 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-14 21:06:30 +00:00
matlabbe
8b67633b34 Refactored Odometry class: 
-new odometry parameters
-new Optical flow strategy
-Stereo data support 
Refactored SensorData class to support stereo images
Updated default parameters (mostly odometry ones)
util3d: new methods to handle/reconstruct 3D clouds from disparity image / stereo images
PreferencesDialog: added Odometry/BOW and Odometry/OpticalFLow panels.
DatabaseViewer: fixed a crash when database is empty. Added cloud reconstruction of stereo images if saved in database
Camera: added 1 second delay to avoid dark images at the starting


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1849 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-13 19:10:22 +00:00
matlabbe
ae57ea6ae5 fixed LccReextract/FeatureType not set in Preferences when loading config.ini. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1845 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-07 23:07:23 +00:00
matlabbe
4d4c5af6e5 Fixed crash when using binary descriptors and maxWords/maxDepth are set 
Added BRISK detector

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1839 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-06 19:41:45 +00:00
matlabbe
317d382a24 New parameter: Rtabmap/StartNewMapOnLoopClosure, when activated and creating a new map, the nodes of the new map will be ignored until a loop closure is found. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1812 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-01 19:52:46 +00:00
matlabbe
1367143171 Added "Test" button in the Source panel in Preferences to test alone the RGB-D camera. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1810 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-01 17:30:44 +00:00
matlabbe
ebeb116c0d added new statistics (features extracted current image, local map size) shown in GUI for Odometry 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1719 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-25 15:04:35 +00:00
matlabbe
c4408920f6 DatabaseViewer: ask saving changes to database on Exit 
New parameter: Mem/InitWMWithAllNodes

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1680 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-21 21:14:17 +00:00
matlabbe
a98f819821 Binary descriptors (ORB, BRIEF, FREAK) can now be used for the visual dictionnary: maybe not as discriminative as SIFT/SURF on large environments, the advantage is that RTAB-Map will work without Patent/noncommercial licenses of SIFT and SURF. 
A new option is added to re-extract features when a loop closure hypothesis is found. 
Another new option is to force 2D (3DoF) transform on visual odometry and loop closures.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1679 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-21 16:51:51 +00:00
matlabbe
c8593df7eb Enabled binary visual words for dictionary (for loop closure detection). 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1677 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-09 21:54:32 +00:00
matlabbe
f251b64310 Added GFTT detector which can be used for Odometry 
Modified how depth is computed: Now the mean of neighbors is used as the value instead of interpolation... averaging the Kinect noise.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1662 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-20 23:05:06 +00:00
matlabbe
df76e3cd29 Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map 
Added Feature2D::parseParameters()
 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1632 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-11 15:23:06 +00:00
matlabbe
8e65812324 Added interpolate parameter to util3d::getDepth() 
Added Reset calibration button
Added Sense 3D scanner input source

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1625 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-30 17:42:58 +00:00
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
ab1d4eb232 databaseviewer set default CameraLockZ=false on constraints view 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1593 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-23 21:30:27 +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
2479272161 GUI: Changed "Save" for "Export", moved Export to File menu 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1558 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-14 01:40:50 +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
bcc9469c91 corrected typos 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1553 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-13 18:09:54 +00:00
matlabbe
16058dcbbe radiusPosesFiltering default keepLatest=true 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1550 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-13 17:59:38 +00:00
matlabbe
6e3303654e updated OptimizeFromGraphEnd description 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1549 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-13 17:49:11 +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