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60 Commits

Author SHA1 Message Date
matlabbe
280cb28030 Updated FindG2O.cmake to add chmold include directory 2016-03-15 12:22:28 -04:00
matlabbe
c4ee125f73 Building more robust OpenCV3's cv::solvePnPRansac() in OpenCV2 build 2016-03-08 19:51:50 -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
1f999c4d28 Explicitly show licenses of optional dependencies on CMake 2016-03-01 14:25:00 -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
c6a46a7238 0.11.2: First Google Tango release 2016-02-15 19:35:24 -05:00
matlabbe
8dc01c491b Renamed uresourcegenerator tool to rtabmap-res_tool 2016-01-23 17:04:30 -05:00
matlabbe
874816b679 Updated cmake for ARM/Android build 2016-01-21 17:11:57 -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
2d6965aa4b Fixed build with g2o on Windows 2016-01-14 17:07:01 -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
matlabbe
2e9634cf65 Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction. 
Added Feature2D::generateKeypoints3D() for convenience.
Added parameter "Vis/PnPOpenCV2".
Added parameter "Vis/ForwardEstOnly".
Removed OdometryOpticalFlow class, replaced by OdometryF2F (frame-to-frame). To get the same previous OpticalFLow approach, parameter "Vis/CorType" should be set to 1.
Some parameters under group "OdomFlow/..." are now under "Vis/CorFlow...".
In Registration class, add computeTransformationMod() method to modify input signatures.
Added constructor Signature(SensorData) for convenience.
Modified words multimap used with cv::Point3f instead of pcl::PointXYZ to limit the use of PCL headers where they are not really required.
Added Stereo::create() for convenience.
Transform: fixed quaternion constructor where data_ was not initialized. Added parentheses operator for convenience.
DatabaseViewer: loading .rtabmap/rtabmap.ini instead of .rtabmap/dbViewer.ini when used from rtabmap application. Added vertical layout option for convenience.
MainWindow: fixed wrong Odometry speed values
ParametersToolBox: using QStackedWidget instead of a QToolBox for space, added "Restore Defaults" button.
 2015-12-21 17:27:05 -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
818eda005f merged master to 0.11.0 2015-12-02 11:55:46 -05:00
matlabbe
4e9ba66555 Ubuntu 12.04 an g2o, fixed -std=c++11 error 2015-12-01 11:51:59 -05:00
matlabbe
7d35906398 Refactoring: Split all graph optimization approaches in multiple files 2015-11-27 11:09:39 -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
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
a45aa5d8f7 Renamed all flann headers to avoid conflicts if flann is already installed on the computer 2015-09-12 01:36:17 -04:00
matlabbe
cf0d781020 Included FLANN headers in rtabmap for convenience (to have commit 23051820b2) 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
f731b30cf9 Fixed undefined vertigo (g2o) methods 2015-09-04 07:34:33 -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
31d374e141 Added cvsba support for post-processing bundle adjustment (SBA) 2015-08-12 20:59:21 -04:00
matlabbe
e5447be23a Refactored 3DTo2D and 3DTo3D motion estimations (Memory and OdometryBOW are now using the same methods) 2015-06-27 00:08:52 -04:00
matlabbe
6df403ed42 Refactored Camera classes and Preferences->Source menu 2015-06-26 18:21:32 -04:00
Mathieu Labbe
bd9fb1027b Added util3d::laserScanFomrDepthImage() and some refactoring 2015-05-31 01:26:57 -04:00
Mathieu Labbe
9fde57843f Increased version to 0.9.0. Refactoring: Split util3d.h into multiple files util3d_****.h to reduce compilation time. Also removed all PCL templates to reduce memory used while compiling. 2015-05-13 19:54:23 -04:00
Mathieu Labbe
fa3a2421f6 Added Monocular SLAM (experimental), Odometry classes refactoring 2015-04-23 22:01:41 -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
786e846f65 Added CameraDC1394, CameraModel and StereoCameraModel classes 2015-04-04 11:29:14 -04:00
Mathieu Labbe
87469b39cd merged freenect2 and dc1394 commits 2015-04-03 15:17:57 -04:00
Mathieu Labbe
4ca200fe1a Added cmake DC1394 lookup 2015-04-03 15:13:05 -04:00
matlabbe
51131e9feb Added CameraFreenect2 support for Kinect v2 (images are not yet registered) 2015-04-02 16:33:35 -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
7a6bf630ca Moved some util3d methods to Transform.h, Graph.h and Compression.h 
Added computePath() method implementating A star on graph
GUI: SetWindowModified() and user should explicitly save the GUI config to keep them
Calibration: added mirror checkbox, added device id argument
 2015-01-23 11:17:42 -05:00
Alexis Ballier
d8db777d7c Use standard CMAKE_INSTALL_{BIN,LIB}DIR instead of INSTALL_{BIN,LIB}_DIR. 
Overriding the latters caused me to see these files installed in ${DESTDIR}/${BUILD_DIR}
 2014-12-17 17:44:47 +01:00
Mathieu Labbe
9287570b71 Updated library install directory, removing explicitly setting RPATH 2014-12-09 20:17:03 -05:00
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
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
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
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
c18f1501d4 Refactoring CameraRGBD class (now including OpenNI, OpenNI2, OpenNI from OpenCV and Freenect) 
Added tool to test RGB-D camera: rtabmap-rgbd_camera
Fixed Freenect corrupted depth image (after some time)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1366 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-15 03:31:35 +00:00
matlabbe
a943083e0b Added OpenNI2 camera 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1363 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-13 23:44:38 +00:00
matlabbe
bb5e5c0084 Made Freenect dependency optional 
fixed some toro3d warnings

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1327 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-04 20:24:54 +00:00
matlabbe
acd208fc6a Added Freenect camera source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1310 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-03 04:42:08 +00:00
matlabbe
df3d694829 Removed sqlite3 dependency (now building it directly in source, making installation easier between x86 and x64) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1074 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-24 21:42:35 +00:00