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808 Commits 29 Branches 163 Tags
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140 Commits

Author SHA1 Message Date
matlabbe
303e64e8d8 Updated default Graph Optimization parameters (iteration+epsilon). Added "Variance from Inliers" parameter to DatabaseViewer 2015-10-17 14:00:27 -04:00
matlabbe
835155e6ae CameraOpenNI2: Added OpenNI2 stamps/Ids option 2015-10-15 16:40:49 -04:00
matlabbe
88a3f425c1 Added RGBD/ScanMatchingIdsSavedInLinks parameter 2015-10-13 16:06:19 -04:00
matlabbe
988e83cf1c Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label. 2015-10-13 12:50:25 -04:00
matlabbe
fbf967066a Added LccBow/VarianceFromInliersCount parameter (linked with Odom/VarianceFromInliersCount in standalone gui) 2015-10-02 10:40:18 -04:00
matlabbe
bf0790f3b9 Added Odom/VarianceFromInliersCount parameter (default false) 2015-09-28 21:45:41 -04:00
matlabbe
88e67f047a Version 0.10.9: added RGBD/PlanStuckIterations parameter (default 0) to detect when a node in the planned path is unreachable 2015-09-23 18:15:34 -04:00
matlabbe
c107436e85 VWDictionary: changed miniflann to flann directly so version 1.8 can be used. Added parameter "Kp/IncrementalFlann" 2015-09-09 00:58:45 -04:00
matlabbe
198899ba32 Added parameter "RGBD/OptimizeMaxError" (default: 1 m) to reject loop closures after too large optimization errors 2015-09-03 12:37:14 -04:00
matlabbe
7a721105ae Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support. 2015-09-02 17:51:43 -04:00
matlabbe
ce2bbd8feb CameraThread: Added stereo to depth option. Added parameter "Mem/SaveDepth16Format". 2015-08-27 17:16:12 -04:00
matlabbe
0cf1ea8777 Moved some common include files to public headers folder 2015-08-25 10:32:27 -04:00
matlabbe
d57e12023b Remove recursively tmp textures folder 2015-08-24 16:06:08 -04:00
Mathieu Labbé
abdd3de773 Mesh reconstruction update: fixed normals computation (with and without MLS) 2015-08-11 17:19:12 -04:00
matlabbe
554b8978a0 Updated how RtabmapCmdEvent should be called (using UVariant). MainWindow: added new actions to export poses (KITTI, RGBD-SLAM and TORO formats) 2015-08-01 23:42:36 -04:00
matlabbe
2877a14360 Added CameraRGBDImages class (read RGB-D images from a folder) 2015-07-30 14:17:29 -04:00
matlabbe
b358ffd45d Labels shown in the GUI (added also "Label current location..." action in Detection menu) 2015-07-26 15:50:39 -04:00
matlabbe
80ab6a670e Preferences: all label texts are selectable 2015-07-17 13:32:18 -04:00
matlabbe
8754da7420 Added StereoVideo source input (side-by-side video) 2015-07-16 14:44:25 -04:00
matlabbe
3b226a0d92 fixed fatal error (fx==0) on kinect v2 calibration, added tx,ty,tz to camera local transform in Preferences 2015-07-09 10:01:41 -04:00
Mathieu Labbé
dc48b4d4f4 some fixes for CameraFlyCapture2 driver on Windows, fixed OdometryMono with stereo cameras 2015-07-06 17:25:38 -04:00
matlabbe
fce1816c21 added subtractFiltering() method to filter point clouds by subtracting the previous cloud 2015-06-29 00:19:45 -04:00
matlabbe
b7faef35f1 Refactored motion estimation parameters in the GUI. 2015-06-27 01:43:29 -04:00
matlabbe
6df403ed42 Refactored Camera classes and Preferences->Source menu 2015-06-26 18:21:32 -04:00
matlabbe
01f2f1348c Added OdomBow/FixedLocalMapPath parameter 2015-06-25 16:04:42 -04:00
matlabbe
6a7a9fb9b0 reverted modif on z when honolonomic but added modif on yaw depending on the estimated y value 2015-06-16 10:50:49 -04:00
matlabbe
7cd0d0cd53 holonomic option: makeing z depending on x and pitch too if nonholonomic 2015-06-16 08:50:32 -04:00
matlabbe
53f7719655 Added odometry honolomic parameter 2015-06-15 20:53:31 -04:00
matlabbe
dfbf6e721e Refactored OdometryOpticalFlow (added optical flow guess using previous odometry transform, merged stereo/depth stuff) 2015-06-15 14:44:44 -04:00
matlabbe
b8dccc2228 Added CameraStereoImages class to read stereo images from a directory. Added a particle filter to smooth odometry trajectory. Added parameter RGBD/OptimizeEpsilon to limit TORO iterations when error improvement is small. Added Rtabmap/CreateIntermediateNodes parameter: this can be used to keep all odometry poses 'between' nodes used for loop closure detection. Added PnP approach to loop closure constraint estimation. Fixed decimation of stereo images when image size is odd. 2015-06-11 16:57:16 -04:00
matlabbe
c0386be098 DbViewer: remove constraint clouds when 3D words are not available and referred checkbox checked 2015-05-11 14:20:04 -04:00
matlabbe
b5e62be664 Freenect2: added new type Ir+Depth (RTAB-Map can be used without lightwith the Kinect v2) 2015-05-05 19:32:09 -04:00
Mathieu Labbe
679d9deca0 Added message box when calibration cannot be done on a specified driver. Added HD option in Source panel for Freenect 2. 2015-05-05 18:21:43 -04:00
Mathieu Labbe
f32319f0dc Added notification message box when a global path is computed. Refactoring occupancy grid. 2015-05-05 17:38:38 -04:00
Mathieu Labbe
cf5f998e06 Added path immunization between the nearest local location and the current pose. New parameter: "RGBD/LocalImmunizationRatio" 2015-05-04 16:00:21 -04:00
Mathieu Labbe
d7030e0e38 Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved. 2015-05-03 18:16:55 -04:00
Mathieu Labbe
abb7eb15ac Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table 2015-05-01 07:30:09 -04:00
Mathieu Labbe
a4f11b7a3b Updated default RGBD/LocalLoopDetectionPathFilteringRadius to 0.25 2015-04-27 18:16:04 -04:00
Mathieu Labbe
db90da7303 Updated how local scan matching is done (doing it on segmented local paths) 2015-04-27 02:43:06 -04:00
Mathieu Labbé
2e706ed01f fixed windows build 2015-04-24 13:56:16 -04:00
Mathieu Labbe
fa3a2421f6 Added Monocular SLAM (experimental), Odometry classes refactoring 2015-04-23 22:01:41 -04:00
Mathieu Labbe
5700c14bcb DatabaseViewer: added exporting of a specific session with or without user_data. MainWindow: added action to send goal to rtabmap. Rtabmap: Saving goals in user_data of the current signature, modified parameter Mem/RehearsedNodesKept to Mem/NotLinkedNodesKept. DBReader: added sending goals when detected while playing back a database. 2015-04-17 18:30:12 -04:00
Mathieu Labbé
3ed6a1b2f0 Version 0.8.9: added FlyCapture2 driver for bumblebee2 (tested only on Windows) 2015-04-07 12:00:10 -04:00
Mathieu Labbe
19f59a8c60 Added link to a sample chessboard in CalibrationDialog 2015-04-06 00:53:22 -04:00
Mathieu Labbe
04b35b2adf GUI: Added new Freenect2 and StereoDC1394 source options. 2015-04-06 00:28:04 -04:00
Mathieu Labbe
6089a44589 Added PnP Pose estimation based Odometry option. Added sensor icons in menu. 2015-03-31 15:45:38 -04:00
Mathieu Labbe
ad6ee69ac6 Grid map: added "erode" option 2015-03-20 14:03:09 -04:00
Mathieu Labbe
aa8fe2e55c Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d 2015-03-12 17:00:56 -04:00
Mathieu Labbe
d77b0dfb14 Updated version to 0.8.6: Added parameter Mem/TransferSortingByWeightId 2015-03-09 15:25:51 -04:00
matlabbe
cf69f17925 Added Source/Mirroring parameter for convenience 2015-02-28 18:09:22 -05:00