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8b67633b34170745ee912ac451b28eab24b55362
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170 Commits

Author SHA1 Message Date
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
a3f7415821 Refactored OdometryBOW class 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1846 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-08 00:32:43 +00:00
matlabbe
37395a485c Extended KpDetectorStrategy/OdomType/ReextractFeatureType comments for BRISK 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1844 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-07 10:27:21 +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
61603cdf0f Fixed missing visual words when parameter Mem/InitWMWithAllNodes is set 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1828 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-02 20:35:45 +00:00
matlabbe
2badfb5faf Upgraded trunk version to 0.7.1 
Added version in ini config file
Fixed rtabmap-console for loop closure detection-only

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1823 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-02 15:12:56 +00:00
matlabbe
c441cc1d0f Added Map color overlay on 3D cloud (press key '2' on keyboard) 
Fixed loading all node ids from database, ignoring children

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1813 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-01 21:44:46 +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
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
c5eedd9a9d rtabmap::getGraph() returning mapIds too 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1681 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-22 18:02:07 +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
02850ec756 Fixed freenect camera to handle K4W (libfreenect must be built from https://github.com/renewagner/libfreenect, k4w-wip branch). 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1678 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-12 20:27:02 +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
e687302ce0 Don't publish new node data when in localization mode 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1676 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-09 18:47:04 +00:00
matlabbe
ee6deb5640 fixed build on Windows 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1670 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-27 20:47:32 +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
b0af55699d removed image conversion not used 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1659 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-19 20:35:09 +00:00
matlabbe
0f4d771160 added description to SURF and SIFT parameters 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1657 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-19 19:59:02 +00:00
matlabbe
e460cb592f Refactoring: Renamed rtabmap::Image to rtabmap::SensorData 
removed keypoints and descriptors stuff from CameraEvent and Image/SensorData
removed keypoints3 from Image/SensorData

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1653 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-18 23:14:04 +00:00
matlabbe
9aca634b28 added keypoints3 field to Image class 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1652 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-14 20:29:43 +00:00
matlabbe
7cf89b6d76 Added mapIds to rtabmap::get3DMap() 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1644 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-13 18:57:17 +00:00
matlabbe
29097c023e Changed license to BSD 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1633 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-11 17:00:55 +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
52af62394e OdometryICP: added p2p (point to point) option 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1631 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-05 00:35:21 +00:00
matlabbe
a0da05a352 fixed some not initialised variables 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1626 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-30 17:51:05 +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
0a385ed75f Odometry: fixed bug using max depth on the local map's points 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1619 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-28 18:34:17 +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
18f84febc1 OdometryEvent: set quality to -1 when not set. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1611 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-24 17:27:43 +00:00
matlabbe
38f967e10f icp: enabled setting param "icp.setRANSACOutlierRejectionThreshold()" with the same maxCorrespondenceDistance used already for "icp.setMaxCorrespondenceDistance()" 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1594 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-23 22:34:46 +00:00
matlabbe
6e7dde2aea DbViewer: added mapId 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1561 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-14 19:16:26 +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
1d7d2a1847 rtabmap: set mapTransform on local loop closures too 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1547 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-13 16:57:31 +00:00
matlabbe
8da1d61a71 fixed issue 10 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1544 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-11 19:03:11 +00:00
matlabbe
e2c612dffd added Rtabmap::getTimeTheshold() 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1485 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-09 18:03:02 +00:00
matlabbe
0fa8b401c4 just changed a variable name 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1458 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-06 19:11:49 +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
e9ae29f909 fixed some warnings in Windows 
fixed Transform::getNorm()

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1436 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-23 15:19:17 +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
586f4e3d86 MAC OS X binaries fixed bundle. Freenect underscore vs dashed includes 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1394 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-17 01:45:52 +00:00
matlabbe
1dadb03e8e refactored how freenect ready is done 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1391 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-16 18:18:52 +00:00
matlabbe
f6ce17012a Fixed camera openni-PCL stopping after only one grab 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1390 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-16 18:07:51 +00:00