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Author SHA1 Message Date
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
matlabbe c769f85523 Merge branch 'bckim92-master' 2015-12-08 14:33:50 -05:00
matlabbe 21bd206af7 Cleanup the code and updated error message about device not found (when rtabmap is linked to wrong libusb library) 2015-12-08 14:28:26 -05:00
matlabbe 8b2080df44 Merge branch 'master' of https://github.com/bckim92/rtabmap into bckim92-master 2015-12-08 13:47:49 -05:00
matlabbe 6c452137b2 Fixed wrongly yaw reset instead of pitch when resetting odometry to a pose with Force2D enabled 2015-12-07 10:19:08 -05:00
matlabbe 818eda005f merged master to 0.11.0 2015-12-02 11:55:46 -05:00
matlabbe 676cd8cbd9 Enabled Source menu on Idle. Fixed calibration file with only the name not found. DBViewer: added max stereo features parameter under Stereo tab. 2015-12-02 11:48:07 -05:00
matlabbe 60f34fe994 Rejecting last loop closures if optimization fails. Fixed _lastLocalizationNodeId not found in optimized poses in Localization mode. 2015-12-01 14:51:26 -05:00
matlabbe 4d97ba80d6 Don't trigger new map in localization mode when identity odom is detected 2015-12-01 12:34:34 -05:00
matlabbe 4e9ba66555 Ubuntu 12.04 an g2o, fixed -std=c++11 error 2015-12-01 11:51:59 -05:00
matlabbe 535cbbac5a fixed double warnings "Camera has no more images" 2015-11-30 19:59:35 -05:00
matlabbe fc47d07b85 merged master to 0.11.0 2015-11-30 19:39:05 -05:00
matlabbe e58f907440 Added CameraInfo class (added Camera tab in Statistics panel). Scans/userData are not saved anymore when Mem/BinDataKept=false. StereoACameraImages: Fixed error when scan path is not set. Refactoring of OdometryOpticalFlow class to provide variance when 3D->2D estimation is used. 2015-11-30 18:49:28 -05:00
matlabbe d9c9db934a Commented some debug clouds in RegistrationIcp 2015-11-30 11:26:21 -05:00
matlabbe 38fd459c7b Merge branch 'master' of github.com:introlab/rtabmap 2015-11-29 16:20:21 -05:00
matlabbe a16899a829 MainWindow: Updated feedback message when sending a goal fails 2015-11-29 16:20:04 -05:00
matlabbe f2d6ff6748 Fixed signatures not saved after switching online from Mapping to Localization mode 2015-11-27 17:59:38 -05:00
matlabbe 2945abde9c DatabaseViewer: fixed "Graph not created" error when clicking on export map/graph actions 2015-11-27 15:36:57 -05:00
matlabbe 69a04121a3 Added Mem/MapLabelsAdded parameter (default true) 2015-11-27 14:57:29 -05:00
matlabbe 096684ed94 Neighbor link refining: set small variance if small displacement and variance=1 2015-11-27 13:04:01 -05:00
matlabbe 7d35906398 Refactoring: Split all graph optimization approaches in multiple files 2015-11-27 11:09:39 -05:00
matlabbe 93326ab1fe Refactoring: changed Statistics name "OdometryCorrection" to "NeighborLinkRefining" 2015-11-26 16:22:46 -05:00
matlabbe 148504dabd Fixed Memory::computeScanMatchingTransform() (now named computeIcpTransformMulti()) 2015-11-26 16:03:03 -05:00
matlabbe 991a603648 Added util3d::laserScan2dFromPointCloud() 2015-11-26 14:34:06 -05:00
matlabbe ba6733411a merged master to velodyne 2015-11-26 13:37:37 -05:00
matlabbe 7d521819f0 moved Rtabmap::[read,write]Parameters() and getVersion() to Parameters class (readINI(), writeINI() and getVersion()). Added Parameters::getDefaultOdometryParameters() and Parameters::isFeatureParameter() for convenience. 2015-11-26 13:16:01 -05:00
matlabbe ee81bfc1d7 Removed warning/error when odometry cloud is empty 2015-11-26 10:42:58 -05:00
matlabbe 63c96f39a3 Added GridAdaptor for FAST feature (issue #43). Fixed RegistrationVis feature parameters not set. Added FAST_ORB feature type. 2015-11-25 19:56:14 -05:00
matlabbe 3e5e4dfe32 0.10.12 2015-11-25 15:51:16 -05:00
matlabbe cd39a8c027 0.10.12: Added rtabmap::getLastLocalizationPose() method (to get last corrected pose either in mapping or localization mode) 2015-11-25 15:45:27 -05:00
matlabbe da1129cf79 Refactoring of some parameters (LocalLoopDetection* to Proximity*) and variables in code 2015-11-25 12:15:41 -05:00
matlabbe 56383d4cfb Merged master to velodyne 2015-11-22 18:15:33 -05:00
matlabbe ae9f21acd7 Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used 2015-11-22 18:08:32 -05:00
matlabbe 10d683a38e Graph optimization: fixed stop error criterion for g2o and gtsam, previous optimized poses are now used as guess for the optimized graph 2015-11-18 19:40:46 -05:00
matlabbe 1e5bcfded8 GFTT: updated MinDistance=10 default 2015-11-12 11:17:26 -05:00
matlabbe d1eec16222 Added GFTT+ORB detector type 2015-11-11 12:08:20 -05:00
matlabbe 0dedc62ce8 Disabled local loop detection on intermediate nodes 2015-11-09 11:46:30 -05:00
matlabbe 798eb2330b Updated default badSignThr parameter 2015-11-06 14:46:35 -05:00
matlabbe e8bea5cba3 Fixed sqlite3 warnings 2015-11-06 14:10:45 -05:00
matlabbe 58190d5422 Added more Freenect2 options 2015-11-04 18:31:52 -05:00
matlabbe 2ee9183c17 Updated CameraFreenect2 with latest freenect2 library (commit https://github.com/OpenKinect/libfreenect2/commit/cdeb07917c3431abf530785c151c9656f1c26d3a) 2015-11-03 17:31:07 -05:00
matlabbe 620ce51f70 Fixed warnings on Windows 2015-11-03 12:49:03 -05:00
matlabbe dc20327a18 GraphView: added Maximum link length option 2015-10-29 09:53:35 -04:00