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Author SHA1 Message Date
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
6bf271e04d updated local loop closure (space) map transform on localization 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2054 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-20 16:47:18 +00:00
matlabbe
57dec696cf fixed not uncompressed depth2D when restarting rtabmap with a prebuilt map for icp constraints 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2053 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-20 16:20:21 +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
89bcea3057 DatabaseViewer: fixed update of constraintView when moving the image sliders. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2049 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-17 22:31:04 +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
a52536e209 DatabaseViewer: set default stereo parameters instead of hard-coded ones 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2002 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-14 19:07:06 +00:00
matlabbe
502804076a demo_robot_mapping.launch: fixed "util3d.cpp:3038::rayTrace() Condition (end.x >= 0 && end.x < grid.cols) not met! [end.x=84 grid.cols=84]" fatal error 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1997 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-14 15:45:10 +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
af31410590 Updated EpipolarGeometry methods 
Experimental: added OdometryMono in epipolar geometry test

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1982 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-12 15:25:15 +00:00
matlabbe
6608ee5ef6 rtabmap: don't publish statistics if process returns false. Also, don't return true when the displacement is too small (when the related parameters are set) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1981 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-11 22:14:45 +00:00
matlabbe
f9e25c2fa6 util3d: added bool segmentFlatObstacles (default false) parameter to segmentObstaclesFromGround() method 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1980 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-11 21:34:14 +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
b5dc120bb9 fixed build error (on EpipolarGeometry) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1972 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-06 14:44:32 +00:00
matlabbe
a6078bfad4 Added EpipolarGeometry::findFFromCalibratedStereoCameras() 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1971 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-06 04:50:46 +00:00
matlabbe
c8203f2119 added package.xml to rtabmap lib sources 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1969 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-04 21:21:26 +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
54084fc5e1 OdometryFlow: ignore maxDepth when set to 0 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1966 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-04 00:06:40 +00:00
matlabbe
bb22d6b065 updated grid map margin to +-cellSize instead of 1 meter 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1965 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-03 22:15:07 +00:00
matlabbe
500ba389b7 fixed create2DMapFromOccupancyLocalMaps() initial map size 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1964 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-03 22:04:03 +00:00
matlabbe
c98db0396b create2DMap() added minMapSize parameter 
dbViewer: fixed refine Visual

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1962 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-03 21:40:54 +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
61ce7c4274 databaseViewer: enabled refineICP for stereo images 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1960 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-03 18:44:21 +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
b476022bbb updated default LccBow/MaxDepth to 4 meters 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1957 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-03 13:43:52 +00:00
matlabbe
080f31c8be fixed incremental memory when reextracting features 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1956 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-02 17:14:05 +00:00
matlabbe
a3b29eaf4f updated default source input rate to 30Hz 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1955 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-02 15:21:48 +00:00
matlabbe
15303d0b61 Fixed not loaded data from DBReader 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1944 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-01 22:00:53 +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
9358234e44 removed virtual signature -1 in rtabmap::getMap() (to avoid error "[ERROR] DBDriverSqlite3.cpp:1103::loadSignaturesQuery() Signature -1 not found in database!") 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1942 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-30 15:15:20 +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
4fbefc9ec5 updated RTABMapConfig.cmake to find debug libraries 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1939 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 21:31:16 +00:00
matlabbe
0f7cc38688 Memory efficiency: changed std::vector<unsigned char> bytes arrays to cv::Mat to avoid multiple copies when Signature objects are copied. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1937 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 19:57:21 +00:00
matlabbe
eace13b7a8 GUI: Don't backup empty database... 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1936 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 14:13:53 +00:00
matlabbe
9ffd103e69 Removed trailing separator from working directory. Replaced all slashes by QDir::separator(). 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1935 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 05:00:10 +00:00
matlabbe
850c277dac updated default Source database directory to working directory when empty. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1934 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 04:25:15 +00:00
matlabbe
4340748fec fixed compilation error on Windows (on util3d::removeNaNFromPointCloud() method) 
increased stability of new actions added (New/Open/Close database).

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1933 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 04:16:36 +00:00
matlabbe
d950c88373 Fixed odometryBOW to correctly set initial pose 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1932 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 01:58:39 +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
60b0fd2e98 Added util3d::segmentObstaclesFromGround() method, templated some PCL methods (new rtabmap/core/impl/util3d.hpp) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1921 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-24 16:58:32 +00:00
matlabbe
2bd32e5a95 eclipse fixed nmake target (not JOM) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1920 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-24 11:37:06 +00:00
matlabbe
8e55d7847f added util3d::cloudFromDisparity() 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1915 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-22 20:33:26 +00:00
matlabbe
d220301f50 fixed typos... 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1913 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-22 17:19:53 +00:00
matlabbe
c5d1770d84 fixed not all graph nodes visible of the current map in GraphView 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1906 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-20 21:56:37 +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
e03831e7db rtabmap: desactivate graph optimization when RGBD/ToroIterations=0 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1896 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-17 23:59:15 +00:00