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
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
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
fc47d07b85
merged master to 0.11.0
2015-11-30 19:39:05 -05:00
matlabbe
69a04121a3
Added Mem/MapLabelsAdded parameter (default true)
2015-11-27 14:57:29 -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
da1129cf79
Refactoring of some parameters (LocalLoopDetection* to Proximity*) and variables in code
2015-11-25 12:15:41 -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
d1eec16222
Added GFTT+ORB detector type
2015-11-11 12:08:20 -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
47d98b2912
GUI: GFTT quality min is now 0.0001, fixed fatal error when LocalLoopDetectionSpace=True and not RGB-D SLAM mode
2015-10-28 18:48:17 -04:00
matlabbe
c884781741
DBViewer: added total time info
2015-10-27 13:39:29 -04:00
matlabbe
463a5d973c
Update version 0.10.11:
...
-Added parameter "Mem/ReduceGraph" with new link type (NeighborMerged)
-DatabaseViewer: add Info panel, fixed empty extracted database when "RGB images" is not checked
-ConsoleWidget: added buffer size and refresh rate options
-DBDriver: new database info getters
-Graph: added reduceGraph() method, added Dijsktra computePath() with links only
-Updated default parameters: RGBD/LocalLoopDetectionSpace=true, RGBD/LinearUpdate=0.1 and RGBD/AngularUpdate=0.1
-Goals are saved with label instead of ID if the target node has a label
-DataRecorder: fixed saving incrementally the database (instead of only at the end)
-MainWindow: When waypoints are used, resend the current goal (1 sec delay) if it has failed setting it
2015-10-24 17:03:44 -04:00
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
1f33c39f3c
Updated for issue #36 : Moved "Export Poses..." to File menu, added "Export images..." action too, updated when some export actions are enabled or disabled
2015-10-16 20:11:24 -04:00
matlabbe
eaff524e30
MainWindow: added updateCacheFromDatabase() method (for ROS rtabmapviz)
2015-10-16 17:43:31 -04:00
matlabbe
835155e6ae
CameraOpenNI2: Added OpenNI2 stamps/Ids option
2015-10-15 16:40:49 -04:00
matlabbe
78164c9770
DbViewer: added ground angle and cluster size parameters for grid projection map
2015-10-14 17:11:30 -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
ee76a02117
Using solvePnPRansac() of OpenCV2.4 in OpenCV3 (for some reasons RANSAC is better in OpenCV2.4, tested on Mac OS X). Updated default 3D->3D estimation parameters
2015-10-01 21:00:16 -04:00
matlabbe
bf0790f3b9
Added Odom/VarianceFromInliersCount parameter (default false)
2015-09-28 21:45:41 -04:00
matlabbe
3fa6124ad0
Improved performance of create2DMap() and fixed unknown space filled rotation when laser scans are inverted. Added fill unknown space option to DatabaseViewer.
2015-09-28 15:30:01 -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
c60a808c75
GUI: The global path is transformed in the current referential as the robot moves. Moved Goal actions in Detection menu.
2015-09-21 18:12:55 -04:00
matlabbe
cf0d781020
Included FLANN headers in rtabmap for convenience (to have commit https://github.com/mariusmuja/flann/commit/23051820b2314f07cf40ba633a4067782a982ff3 )
2015-09-11 23:23:01 -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
f912023a30
GUI: custom aspect ratio, option to save auto screenshots in RAM, default views updated (reseting 3D map camera position and hiding the status bar)
2015-09-04 13:46:37 -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
12bd8a1720
Added special export poses for the KITTI dataset
2015-08-25 19:36:48 -04:00
matlabbe
0cf1ea8777
Moved some common include files to public headers folder
2015-08-25 10:32:27 -04:00
matlabbe
8ea1fa06ef
Fixed normals update with corresponding cameras
2015-08-24 18:35:24 -04:00
matlabbe
58e3da18c2
GUI export: Added cloud filtering option
2015-08-24 17:12:39 -04:00
matlabbe
d57e12023b
Remove recursively tmp textures folder
2015-08-24 16:06:08 -04:00
matlabbe
45877e7486
GUI export: added mesh quadric decimation factor option
2015-08-24 12:49:45 -04:00
matlabbe
698ae0eeda
GUI: Added export mesh with textures, refactored Export dialog (more MLS options)
2015-08-24 11:59:26 -04:00
matlabbe
40866d5e78
Merged master -> devel, updated default post-processing parameters
2015-08-15 12:58:29 -04:00
matlabbe
31d374e141
Added cvsba support for post-processing bundle adjustment (SBA)
2015-08-12 20:59:21 -04:00
Mathieu Labbé
abdd3de773
Mesh reconstruction update: fixed normals computation (with and without MLS)
2015-08-11 17:19:12 -04:00
matlabbe
2d0177f40b
Added "File->Export cameras in Bundler format (*.out)" action
2015-08-10 11:39:40 -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
f5dac46252
CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2)
2015-07-24 16:29:45 -04:00
matlabbe
80ab6a670e
Preferences: all label texts are selectable
2015-07-17 13:32:18 -04:00
matlabbe