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335 Commits

Author SHA1 Message Date
matlabbe
16058dcbbe radiusPosesFiltering default keepLatest=true 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1550 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-13 17:59:38 +00:00
matlabbe
6e3303654e updated OptimizeFromGraphEnd description 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1549 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-13 17:49:11 +00:00
matlabbe
1d7d2a1847 rtabmap: set mapTransform on local loop closures too 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1547 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-13 16:57:31 +00:00
matlabbe
8da1d61a71 fixed issue 10 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1544 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-11 19:03:11 +00:00
matlabbe
e2c612dffd added Rtabmap::getTimeTheshold() 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1485 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-09 18:03:02 +00:00
matlabbe
0fa8b401c4 just changed a variable name 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1458 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-06 19:11:49 +00:00
matlabbe
87d1e4b52a updated util3d::create2dMap() with filling unknown space option (default true) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1453 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-03 20:16:39 +00:00
matlabbe
f34907f92f Added optimizeFromGraphEnd (default true) parameter. It can be used to keep the map referential from the oldest node in the current graph 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1441 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-25 23:00:35 +00:00
matlabbe
7b0a34b150 Save/view high-res point clouds depending on the visible clouds in Map view (only those checked in MapVisibility view) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1437 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-23 20:43:08 +00:00
matlabbe
e9ae29f909 fixed some warnings in Windows 
fixed Transform::getNorm()

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1436 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-23 15:19:17 +00:00
matlabbe
ad04fed7e6 Added Database recorder menu option 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1433 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-23 00:26:14 +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
1dadb03e8e refactored how freenect ready is done 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1391 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-16 18:18:52 +00:00
matlabbe
f6ce17012a Fixed camera openni-PCL stopping after only one grab 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1390 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-16 18:07:51 +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
81b3b49f97 Updated Source menu, sorted RGB-D choices by sensor type 
Fixed openni from opencv available() method

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1365 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-14 17:01:14 +00:00
matlabbe
c2f6439567 Fixed focal computation when images are registered (freenect), Updated FindOpenNI2.cmake for unix 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1364 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-14 16:09:44 +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
0d8a9e37c7 Added error msg when registration is not activated on device (openni from opencv) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1359 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-13 03:57:17 +00:00
matlabbe
0bba363f5f Added CameraRGBD with openni from OpenCV, removed feature2D stuff from Camera 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1358 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-13 03:47:39 +00:00
matlabbe
d9d55b859e Increment map id when the memory is loaded. This fixes a bug on localization mode when odometry is already started before rtabmap node. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1354 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-11 19:00:04 +00:00
matlabbe
4fa947b7a6 Added cloud smoothing (MLS) to save clouds 
Modified saving questions to yes for merging clouds before saving or meshing

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1335 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-08 05:16:14 +00:00
matlabbe
df0f9d60d5 Added a quality odometry threshold, turning the background yellow when the mapping area has too low features 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1334 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-06 18:06:49 +00:00
matlabbe
1e9f612d25 Added new icon 
Fixed compilation error (not found uint32_t) on Windows

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1330 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-05 15:21:33 +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
0fc6228b4f Added some parameters for mesh reconstruction 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1315 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-03 19:28:59 +00:00
matlabbe
61f026071e Fixed libfreenect.h not found error when compiling the rtabmap-gui lib 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1313 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-03 14:26:30 +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
e6f24dfcc5 Fixed some size_t/int warnings. 
Fixed compilation error on Windows for ExtractObject tool (include pcl_ros/transform.h missing).

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1295 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-05-05 15:18:41 +00:00
matlabbe
4c53972dc8 Changed default for parameters OdomMinInliers=10 and OdomInlierDistance=0.01 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1289 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-04-03 20:16:47 +00:00
matlabbe
491553a80f Added parameter KpMaxDepth to limit the features extracted under a specified maximum depth. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1288 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-04-03 19:59:46 +00:00
matlabbe
ac626a846e removed ImagesDbExtractor tool (already inside databaseViewer) 
add optional delay to DBReader
added more options to odometryViewer tool


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1264 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-28 22:11:36 +00:00
matlabbe
24eeec3e26 updated default rehearsal similarity to 0.6 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1193 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-26 16:52:43 +00:00
matlabbe
eea38736b4 Fixed some bugs on Windows... 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1179 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-25 21:07:32 +00:00
matlabbe
30981b102e Added c++ example of RTAB-Map RGB-D version 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1152 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-24 21:04:02 +00:00
matlabbe
510e9cab89 Removed optimizeCurrentMap() on rtabmap initialization when not in RGBD mode 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1136 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-20 20:46:12 +00:00
matlabbe
931cc740c7 changed 2D ICP dropping 3DOF values comment log level 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1127 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-19 19:07:49 +00:00
matlabbe
b44e01a3bb New parameters: max accepted ICP translation error, new map on large odometry error 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1126 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-19 19:00:38 +00:00
matlabbe
5dbf6678ce refactoring: terms "current" and "full" changed for "local" and "global" respectively 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1122 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-17 22:58:46 +00:00
matlabbe
260493ac8f fixed parameter LccIcp/Type description 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1120 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-17 22:12:33 +00:00
matlabbe
8d863b21d5 Added visualization cloud filtering 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1077 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-13 21:32:46 +00:00
matlabbe
ea570abb8c New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid) 
New parameter: RGBD/ToroIterations=100
Rtabmap: added getGraph() method to get TORO poses/link constraints
Fixed ICP correspondences ratio over 1
CloudViewer: added frustum culling and camera view up z lock in render(), moving camera using arrow keys, Menu options: Camera far plane clipping, background color
DatabaseViewer: added 3D Map view and Graph view
MainWindow: Moved main widget (loop closure image status) to a dock widget, added Graph view.


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1075 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-11 23:04:22 +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
matlabbe
29d377135e Fixed a bug when switching from BadSignaturesIgnored=false to true (if bad signatures were saved before the switch) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1070 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-22 20:42:14 +00:00
matlabbe
b5f74daaea Set parameter Mem/BadSignaturesIgnored to default "false" 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1068 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-22 20:15:55 +00:00
matlabbe
22e3082adc Increased version to 0.6.2 
Memory management tested on RGBD SLAM
Fixed some crashes
New parameter RGBD/LocalLoopDetectionMaxDiffID
New parameter LccIcp2/VoxelSize
Updated parameter LccIcp/Type (added "No ICP" type)
Updated parameter kLccBowMinInliers (inliers minimum reduced to 1)
TORO optimization: The graph root is explicitly defined as the last node added (fixed a TORO crash when a root could not be found)
TORO optimization: only one constraint between neighbors and loop closures
TORO optimization: added initial tree guess
Map correction/Map transform: now only used in localization mode (map correction is always identity on mapping mode)
New statistics: local loop space diff, last loop closure parent and child ids
Database: Fixed empty signatures with no poses loaded
ICP: fixed transform multiplication order
Dump memory: added 3D words
DatabaseViewer: added Export option (added ExportDialog object)
DataRecorder: Option recording in RAM or Hard drive
GUI: added a dock widget (MapVisibilityWidget) to change visibility of nodes in the 3D map
GUI: fixed progress bar step count when generating the map
Menu option: generate TORO graph (full/current map, optimized/not optimized)
Menu option: download map (full/current map, optimized/not optimized)
Preferences: added Reset all settings button
Preferences: A QGroupBox can be a boolean parameter

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1066 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-22 19:49:28 +00:00
matlabbe
b8c6014ed2 Added badSignaturesIgnored parameter, set to false will keep bad images in memory and in the map's graph (useful on RGBD-SLAM with TORO optimizations to propagate more equally errors to nodes with blank images) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1063 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-15 20:41:58 +00:00
matlabbe
11eed189c9 Retrieved data are now included in the rtabmap info message 
Map transform is only defined with the last loop closure for localization mode: on loop closure between two maps, there is only a TORO link added between the locations (no need to keep the transform between the maps) 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1058 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-08 16:11:00 +00:00
matlabbe
6fc712c15d Fixed an odometry crash when there is only 1 word in the dictionary (and NNDR is activated) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1056 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-17 22:36:09 +00:00