matlabbe
b76952f016
Export: using color transfer radius to limit texturing far polygons from the orignal cloud
2017-02-27 17:31:02 -05:00
matlabbe
6c9572714f
Tango: added sketchfab links, Color Radius is used when texturing optimized mesh
2017-02-27 16:53:05 -05:00
matlabbe
2565239a1b
Export dialog: hiding not used options, exporting can be now canceled on texturing phase
2017-02-26 18:17:00 -05:00
matlabbe
8ab609471a
CLAMS: added isFinite conditions in coneFit (before reproject) http://official-rtab-map-forum.67519.x6.nabble.com/Depth-calibration-fatal-error-td2682.html
2017-02-25 16:14:18 -05:00
matlabbe
3cf21a7e7f
fixed laserScanFromDepthImage order (counterclockwise)
2017-02-24 15:26:42 -05:00
matlabbe
b0170d1f6f
OdometryF2M: generating custom ids for bundle adjustement https://github.com/introlab/rtabmap_ros/issues/151
2017-02-24 11:50:29 -05:00
matlabbe
45ca3500c6
Removed assert when data.id = 0 (only requirement for odom is that id >=0)
2017-02-23 15:57:50 -05:00
matlabbe
526fdb495b
Loop closure view: Added legend "gray" color for features not quantized in vocabulary (-1)
2017-02-23 11:49:33 -05:00
matlabbe
8de6cb1ca0
Added util3d::projectCloudToCamera() with PCLPointcloud2 interface, update util2d::fillDeptHoles() to support CV_32FC1
2017-02-23 00:15:43 -05:00
matlabbe
a1c036a7e2
removed warning when setting user data to SensorData if compressed user data is already here
2017-02-22 14:38:42 -05:00
matlabbe
a9b03bb39e
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
matlabbe
595ac49552
0.12.0: database update: added missing octave field, added preview_image field
2017-02-17 14:37:41 -05:00
matlabbe
af1cdadabd
Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
2017-02-15 19:07:10 -05:00
matlabbe
1be0d52051
Fixed compilation error with PCL < 1.7.2 (disabled graph frustums option)
2017-02-09 19:25:35 -05:00
matlabbe
0d0577a886
3D Rendering: Added option to show graph's frustums, added option to filter floor and/or ceiling.
2017-02-09 18:32:44 -05:00
matlabbe
e4629cc740
Tango: file name using 0-24 hours format
2017-02-07 19:00:52 -05:00
matlabbe
1c555f321b
Fixed Tango odometry variance
2017-02-07 15:57:52 -05:00
matlabbe
5e9c4fde95
Tango: added Privacy Policy link
2017-02-07 00:37:37 -05:00
matlabbe
6aecebcf2c
ExportDialog: fixed minClusterSize signal/slot error
2017-02-06 21:07:27 -05:00
matlabbe
9a2c9f607f
DBViewer: compute normals when showing clouds
2017-02-06 17:05:53 -05:00
matlabbe
3a9b725c0c
Tango: doing mesh decimation only when texturing
2017-02-05 18:04:22 -05:00
matlabbe
f7616f6e94
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
matlabbe
ce8bd9ac40
Export: for min polygon cluster size, added option -1 to just keep the largest cluster
2017-02-04 18:28:43 -05:00
matlabbe
5c44082c42
updated log commment in memory when changing feature type
2017-02-04 09:27:35 -05:00
matlabbe
585f0c54bf
Adjusted min polygon cluster size for applying texture
2017-02-03 17:40:55 -05:00
matlabbe
31453d187d
Updated how texturing is done (occlusion+distance)
2017-02-03 17:27:54 -05:00
matlabbe
53ff5b56e6
fixed texture not exported with single image scan
2017-02-01 12:53:05 -05:00
matlabbe
a1ceff8ce8
Texturing: ignore polygons not facing the camera
2017-02-01 00:29:13 -05:00
matlabbe
bfb9feaf07
TextureMapping: added maximum camera distance
2017-01-31 23:26:35 -05:00
matlabbe
8e0e04eae9
CloudViewer: added point picker on doubleclick
2017-01-30 19:51:06 -05:00
matlabbe
0f96bf7709
Added FREAK detector/descriptor option with OpenCV3
2017-01-30 22:24:51 -05:00
matlabbe
f61569622a
CloudViewer: no need to save texture on disk before rendering TextureMesh (opencv image to vtk texture directly)
2017-01-30 21:23:56 -05:00
matlabbe
31d8ae08c8
Fixed a compilation warning...
2017-01-30 13:35:16 -05:00
matlabbe
4e324e34d8
About dialog: Added VTK version and updated copyright year
2017-01-30 13:17:03 -05:00
matlabbe
7b5761106d
Tango: updated how RGB and depth images are synchronized (to minimize the dt between them). Added time offset to get stamps in epoch time. Trajectory Mode: fixed top button not selected.
2017-01-30 12:29:34 -05:00
matlabbe
819db9538f
Ask to set detection rate to 0 when selecting a source database. DBReader: set 9999 covariance for the first odom pose of a database.
2017-01-29 18:24:10 -05:00
matlabbe
e3b3a08f5f
DbViewer: fixed features not added in right image when adding loop closure
2017-01-28 15:49:29 -05:00
matlabbe
e3d9ad005e
Tango default feature set to BRIEF
2017-01-28 01:17:32 -05:00
matlabbe
bcacf2fe74
Export: darker background to see grid lines
2017-01-27 16:55:01 -05:00
matlabbe
b3a6650a6f
Updated error msg when database cannot be written on disk (write permission issue)
2017-01-27 14:31:44 -05:00
matlabbe
534efcb987
updated version to 0.11.14
2017-01-27 12:19:39 -05:00
matlabbe
79a211ad02
RtabmapThread: changed state stack for a queue to process events in FIFO order (instead of FILO). Tango: Added detector type parameter (FREAK is now the default with 400 features).
2017-01-27 11:47:57 -05:00
matlabbe
b4a0fe54cd
Tango: added gain radius and min cluster size parameters
2017-01-26 17:34:15 -05:00
matlabbe
3a73414972
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
matlabbe
66ee792e8c
Export: fixed white squares in exported texture (shifting next tex coords to wrong sub texture). Transfer color radius option use nearest point when =0. Fixed a crash on export dense with texture when last materials are not used (they have no polygons associated).
2017-01-26 09:42:52 -05:00
matlabbe
496319a2b0
Export: Added merging textures option (default true)
2017-01-19 11:20:48 -05:00
matlabbe
0a98df922e
Export: added texture format option (jpg, png)
2017-01-17 14:57:50 -05:00
matlabbe
4c7d46c8a0
createTextureCameras: using CameraModel's localTransform instead of hard coded optical rotation
2017-01-17 12:44:30 -05:00
matlabbe
a011a6af64
Refactored texture projection (avoid saving image on disk at this step)
2017-01-16 18:29:14 -05:00
matlabbe
2b8f40e505
fixed compilation warnings
2017-01-16 11:21:40 -05:00
matlabbe
8f797e81ae
Export: added option to remove not textured/colored polygons. Cloud generation: Black pixels can be projected. Added RoiRatios options to 3D Rendering and Export. Added fill depth holes option to Export.
2017-01-16 01:32:53 -05:00
matlabbe
f8ec338fa3
Added Poisson surface reconstruction in export options
2017-01-15 19:09:37 -05:00
matlabbe
ea5f0fadb8
Tango: added more Map Update Rate options
2017-01-12 16:49:02 -05:00
matlabbe
bf01a1d138
consoleApp: fixed redefined i
2017-01-07 15:04:36 -05:00
matlabbe
32c051320c
UCv2Qt: fixed min/max of depth to grayscale conversion for CV_32FC1 type
2017-01-06 16:57:47 -05:00
matlabbe
74ae1429a1
Camera tool: fixed compilation warning
2017-01-06 13:57:07 -05:00
matlabbe
00c93abd1b
Memory: ignore reextract features when registration is not visual
2017-01-06 08:20:32 -05:00
matlabbe
7fa559247d
DbViewer: disable "Add" button if one of the current images selected is not in the graph
2017-01-05 21:10:26 -05:00
matlabbe
8895173a2b
Memory::computeTransform(): Fixed empty "from" image when reextract features is true and ICP-only registration is used
2017-01-05 19:31:18 -05:00
matlabbe
f20cb6ff52
Preferences: fixed map opacity limited to 0.75 min. Making sure that normalized variances are set to epsilon if result is 0.
2017-01-05 18:08:20 -05:00
matlabbe
4b12fb3a9a
Normalize variance in refined/added loop closure (DbViewer)
2017-01-05 17:23:55 -05:00
matlabbe
716337b71a
normalize variance in loop closure
2017-01-05 17:22:49 -05:00
matlabbe
dfb965cfa9
Fixed bundler exportation not using local transform
2017-01-04 17:49:59 -05:00
matlabbe
91f78b54d8
bump android version
2017-01-03 22:34:16 -05:00
matlabbe
ac1c5f81ae
fixed some compilation warnings
2017-01-03 22:14:21 -05:00
matlabbe
6abed48af6
0.11.13. OdometryF2M: fixed/improved bundle adjustment option. OptimizerG2O: now doing stereo BA instead of mono BA (interface of Optimizer::optimzeBA() has slightly changed to include depth in word references). Registration and Odometry set angular and linear variances separately. RegistrationVis set x100 smaller variance for rotation. Added keypoints3D member to SensorData. Added Transform::getAngle() for convenience. Odometry normalizes variances. RtabmapThread does variance summation when frames are discarded. Updated how variance is computed by util3d::estimateMotion3Dto2D(), ignoring very large variance from the computation (stereo issue with very far matched features). MainWindow: added option to align with ground truth or not (default true as before), added for odometry statistics (including bundle stuff), update ground truth statistics every time a graph is loaded/optimized. CameraRGB can now load odometry files (to fake an input odometry). PreferencesDialog: Added option to Odometry so it can use a different registration approach than the default one (the one used for loop closure). Parameters: added new g2o/Solver option 3 (Eigen), added g2o/RobustKernelDelta, g2o/Baseline and Odom/VisKeyFrameThr. Database: from 0.11.13, ignoring patch version when comparing is database version is newer than app version used.
2017-01-03 21:05:00 -05:00
matlabbe
6550a52cee
fixed #152
2016-12-05 15:53:19 -05:00
matlabbe
cd62e67011
Localization: Revert mapCorrection transform to one before being lost (when odom can be computed again)
2016-12-05 15:16:04 -05:00
matlabbe
e5524ddc1d
Tango: fixed black clouds. Rtabmap: only add latest optimized pose to graph if localized.
2016-12-05 13:27:29 -05:00
matlabbe
3c17049084
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
matlabbe
d2287ab9f4
Backward compatibility (DBViewer, DBReader) with old database format not saving CameraModel's image size, cx and cy
2016-12-02 13:43:44 -05:00
matlabbe
a5f4468c54
Fixed build warnings about variables not used in CameraRGBD and CameraStereo classes (depending on which sensor is available)
2016-12-02 12:29:38 -05:00
matlabbe
f2dbfa9b33
StereoCameraModel: baseline computed with Tx of left camera too. Fixed QMultiComboBox not showing on windows. Avoid updating grid view if there are no local grids in signatrues. Clear cached data of StatsItem when detecting smaller timestamp than last ones.
2016-12-01 21:46:09 -05:00
matlabbe
d0dddaf7cc
DbViewer: fixed bug where null links were added when added links doen't have enough inliers. g2o/Optimizer: changed back to Levenberg as GaussNewton seems worst on Kinect multi-session mapping
2016-12-01 11:59:49 -05:00
matlabbe
40d0be5828
Preferences: fixed groupbox modified signal not sent when reading a config file
2016-11-30 21:24:17 -05:00
matlabbe
d879491a58
Fixed #149
2016-11-30 14:25:01 -05:00
matlabbe
4d585cbb11
Fixed bug where Grid/MaxObstacleHeight didn't work when the ground is not observable
2016-11-28 14:02:06 -05:00
matlabbe
2f6d7f81cc
Fixed accumulated words bug in highest hypothesis view
2016-11-27 20:55:53 -05:00
matlabbe
3363772ce5
CloudViewer: added backface culling option on right-click menu. MainWindow: removed error msg on wrong decimation (util3d already handle this case)
2016-11-27 20:10:05 -05:00
matlabbe
1910cef3d1
g2o/Optimizer changed default to 1 (Gauss Newton)
2016-11-27 18:32:48 -05:00
matlabbe
121446d648
Removed parameter "OdomF2M/FixedMapPath". GUI: added odometry disabled option. Rtabmap can now localize even if odometry input is null (only in localization mode).
2016-11-27 14:30:11 -05:00
matlabbe
693f623e5e
Fixed GUI crash when using rectified RGB only (with odometry). Fixed empty local map when loading a fixed local map for OdometryF2M.
2016-11-25 19:52:34 -05:00
matlabbe
da1cac1e55
Tango: fixed map not optimized when opening a database
2016-11-25 16:05:14 -05:00
matlabbe
22089a9e45
Tango: Fixed supporting devices for appropriate listing in play store (only for Tango-enabled phones/tablets)
2016-11-25 15:35:18 -05:00
matlabbe
e65db3cba5
Tango: fixed localization mode not working
2016-11-25 15:20:42 -05:00
matlabbe
5b183d9105
DbViewer: do the max optimization error test when adding a new loop closure (rejecting it if it fails)
2016-11-24 15:09:16 -05:00
matlabbe
2a43a95ddd
flann serialize unordered_map compilation error ( #126 ): modified define name to avoid conflicts with the one defined in OpenCV
2016-11-23 17:36:38 -05:00
matlabbe
23bb5d5147
DBDriver: when an empty database url is provided, an empty database "in memory" is used by default. Tango: fixed second database not recorded in Data Recorder mode (now creating a new one on save). Mapping parameters are saved in database instead of the one used to record data (Data Recorder mode).
2016-11-23 15:13:09 -05:00
matlabbe
639896b309
CloudViewer: fixed dark textures
2016-11-21 19:10:30 -05:00
matlabbe
3d5699ef4a
Tango: fixed second database not saved when hitting Save two times consecutively
2016-11-21 18:13:56 -05:00
matlabbe
1c41882bf0
bump tango version
2016-11-21 17:13:32 -05:00
matlabbe
14908e3a11
rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded.
...
Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
2016-11-21 17:09:04 -05:00
matlabbe
4c559a3191
Preview: reduced minimum size of the window
2016-11-21 12:02:29 -05:00
matlabbe
0802f9158c
MainWindow: backward compatibility: load default parameters for those not saved in a db
2016-11-18 16:59:14 -05:00
matlabbe
ceb5c38ca3
util3d: find maximum decimation if the one set is not compatible (instead of returning an empty cloud)
2016-11-18 16:19:41 -05:00
matlabbe
f0d36e71a1
Memory: fixed missing parameters in database on close
2016-11-18 15:53:35 -05:00
matlabbe
e809b30cb9
Tango: removed post-processing done after resuming the app
2016-11-18 14:18:04 -05:00
matlabbe
e5db40e4ae
Tango: Fixed a bug where gain compensation was done while mapping (causing big lags)
2016-11-18 13:07:53 -05:00
matlabbe
43ff7e4b3e
rtabmap-console: added "skip" option for convenience
2016-11-17 16:18:19 -05:00
matlabbe
a3afc249ef
Fixed old parameters ignored when reading config file from GUI
2016-11-17 16:08:55 -05:00
matlabbe