matlabbe
ae7436a41b
Fixed bug where very long paths (over maxGraphDepth) were used for scan matching. Added "RGBD/ProximityMaxPaths" parameter (default 3) to limit the number of path comparisons for proximity detection.
2016-08-12 18:43:12 -04:00
matlabbe
9d09c509ab
Added librealsense support #100
2016-07-26 18:39:34 -04:00
matlabbe
711ff2692c
Updated default x-axis units of the figures with time stamps instead of IDs ( #48 ).
2016-07-17 19:58:32 -04:00
matlabbe
536136af77
Fixed octomap height when in /map frame. Preferences: added Cloud Filtering and Occupancy Grid Map subpanels to 3D Rendering
2016-07-17 16:47:06 -04:00
matlabbe
f161609a24
Added octomap ground is an obstacle option
2016-07-16 10:57:59 -04:00
matlabbe
b4b7b6f455
Added Octomap visualization and export options
2016-07-15 17:46:13 -04:00
matlabbe
517bfa5272
OdometryF2M: updated how local scan map is updated
2016-06-25 13:18:09 -04:00
matlabbe
e90c97f8a4
ZED driver: added option to use visual odometry approach from zed sdk. RtabmapThread: fixed thread state change on new map trigger on Odometry init (variance=9999). Odometry: on init, verify that the first frame is ok before sending first pose. Parameters: Mem/SaveDepth16Format is now false by default
2016-06-24 18:49:34 -04:00
matlabbe
b86352bfc0
merged master to devel
2016-06-23 15:44:24 -04:00
matlabbe
70da8d26c0
Fixed build with ZED SDK 1.0.0 ( #85 )
2016-06-23 15:40:11 -04:00
matlabbe
cdddb1209e
DBReader: added camera selection
2016-06-20 10:50:01 -04:00
matlabbe
84dd258777
Added "Odom/AligWithGround" parameter. Added util3d::extractPlane().
2016-06-12 21:45:22 -04:00
matlabbe
543b8df045
MainWindow: Added statistics about how much size the created clouds take in RAM. Avoid caching data on small movements. Export: Fixed meshing checkbox and pipeline combo box not saved/loaded. PreferencesDialog: Added option to disable caching the point clouds. computeNormals(): added viewpoint parameter. mls(): making sure that all returned normals are normalized.
2016-06-12 17:53:35 -04:00
matlabbe
cb7c76889d
API achange (0.11.8): computeNormals returns only pcl::Normal cloud, not pcl::PointNormal or pcl::PointXYZRGBNormal types. MainWindow: Normals are not kept in cache to save RAM. ProgressDialog: check if auto-close is still checked when close() slot is called.
2016-06-12 13:51:49 -04:00
matlabbe
9f296c67b2
GUI: Added more parameters for 3D projection grid map
2016-06-10 20:12:13 -04:00
matlabbe
d9611f784c
Added ZED parameters
2016-06-02 17:27:12 -04:00
matlabbe
6f1f490370
0.11.7: Added ZED sdk support
2016-05-31 19:09:49 -04:00
matlabbe
9f6af75f79
Local scan matching: set larger scan points for max scan points when it is not set. Fixed missing scan Ids in links' user data to correctly visualize proximity links by space in DatabaseViewer. CloudViewer: using line instead of arrow between the referential and the frustum. removed parameter "RGBD/ProximityPathScansMerged" as visual proximity by space already does that.
2016-05-20 11:44:50 -04:00
matlabbe
684e9fb8b9
0.11.4: API change: added minDepth parameter to cloudFromXXXXX() methods and removed voxel parameter
2016-04-12 15:14:04 -04:00
matlabbe
dece54ca3e
Added parameters: Mem/ImagePreDecimation Mem/ImagePostDecimation Odom/ImageDecimation
2016-04-08 16:15:08 -04:00
matlabbe
d2ebdea96d
Added parameter "g2o/PixelVariance" (default 1)
2016-04-06 15:24:36 -04:00
matlabbe
5f7dfb943c
Source depth from scan: filling holes is now optional (though still true by default)
2016-03-10 12:31:22 -05:00
matlabbe
62c8be40b9
Added ORB+FastGrid implementation (only with OpenCV2). Updated default parameters: Odom/GuessFromMotion=false, Vis/CorNNType=1. RegistrationVis: octave aware on features matching with motion
2016-03-08 12:31:32 -05:00
matlabbe
7a1cf84b08
OdomF2M: added support to laser scan
2016-03-06 15:11:09 -05:00
matlabbe
eefd557ab4
Added parameter "RGBD/ProximityAngle"
...
Updated default of GuessMotion parameters
Proximity detection by time: added guess transform based on optimized poses
RegistrationVis: ByPass OpticalFlow if no images are detected (use features matching instead if features are set)
solvePnPRansac() refining: using std dev instead of variance
Statistics panel: creating Camera/GUI/Odometry panels without the need to start detection (issue #51 )
Statistics: Adding a GT panel when ground truth poses are detected with RMSE info
2016-03-02 18:11:19 -05:00
matlabbe
6a84ed6bd1
Updated OdomF2M/MaxNewFeatures description
2016-03-02 10:08:42 -05:00
matlabbe
264146d8b3
OdomF2M: added Odom/KeyFrameThr=0.5 and OdomF2M/MaxNewFeatures=0 parameters. Set Odom/GuessMotion to false by default.
2016-03-01 20:47:46 -05:00
matlabbe
b6fb947310
3D->3D estimation refining: using 3x sqrt(variance) instead of sqrt(9x variance). GUI: added features cloud rendering option. CloudViewer: fixed slow updateCameraTargetPosition()
2016-03-01 17:33:27 -05:00
matlabbe
a89b8cb4fe
Removed parameters Vis/UseDepthAsMask and Mem/UseDepthAsMask (just always do it when a depth is detected)
2016-03-01 14:40:40 -05:00
matlabbe
1f999c4d28
Explicitly show licenses of optional dependencies on CMake
2016-03-01 14:25:00 -05:00
matlabbe
6d06b66496
Updated how odometry guess is done (adapt to time between timestamps) and Kalman filtering (using velocity)
2016-02-27 18:30:00 -05:00
matlabbe
172e9857c7
Fixed RegistrationVis feature matching behavior when NaN 3D keypoints are found
2016-02-24 12:45:00 -05:00
matlabbe
af37b4b746
Disabled FAST parameters OpenCV2 related parameters in OpenCV3
2016-02-22 18:22:49 -05:00
matlabbe
d7ef170d33
Added parameter "Mem/UseOdometryFeatures=false" to use directly features already extracted from odometry for the vocabulary (issue #32 )
2016-02-22 17:57:40 -05:00
matlabbe
ccc4b4a6c2
Parameters renamed: "OdomLocalMap" group is now "OdomF2M" for Frame to Map odometry. Visual registration feature matching: using guess transform to limit the radius of correspondences "Vis/CorGuessWinSize=16"
2016-02-22 16:13:14 -05:00
matlabbe
0d68f74d80
Fixed calibration/laser not saved when compressed images are not saved to db
2016-02-19 21:05:14 -05:00
matlabbe
c6a46a7238
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
matlabbe
c367fe915e
Added ground truth support of Karlsruhe dataset
2016-01-19 21:53:45 -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
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
dc2746a365
CameraImages: Added synchronization of captrue time with timestamps
2016-01-13 18:13:44 -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
f10c415e48
Updated panels order in Preferences dialog. MainWindow: Removed working directory warning in monitoring mode.
2016-01-12 14:54:20 -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
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
78b37a4b0d
Fixed RGBDImages paths not shown in Preferences
2016-01-07 14:47:32 -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
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
