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291 Commits

Author SHA1 Message Date
matlabbe
df76e3cd29 Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map 
Added Feature2D::parseParameters()
 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1632 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-11 15:23:06 +00:00
matlabbe
52af62394e OdometryICP: added p2p (point to point) option 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1631 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-05 00:35:21 +00:00
matlabbe
8e65812324 Added interpolate parameter to util3d::getDepth() 
Added Reset calibration button
Added Sense 3D scanner input source

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1625 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-30 17:42:58 +00:00
matlabbe
69ad085f88 -Added the grid map in the 3D map view (pcl::TextureMesh, available only when pcl>=1.7.2). Refactored how 2d maps are created. 
-Fixed export grid map on Mac OS X.


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1623 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-29 21:48:37 +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
18f84febc1 OdometryEvent: set quality to -1 when not set. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1611 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-24 17:27:43 +00:00
matlabbe
6e7dde2aea DbViewer: added mapId 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1561 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-14 19:16:26 +00:00
matlabbe
7cfb985478 GUI: ask for MLS when saving or viewing high res clouds (added parameter values in progress dialog) 
Source: added focalLength parameter for RGBD camera (if not null, it will override the value from the camera)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1557 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-14 01:25:28 +00:00
matlabbe
bcc9469c91 corrected typos 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1553 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-13 18:09:54 +00:00
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
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
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
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
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
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
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
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
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
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
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
1c3f78f2d6 fixed Win32 build (VS2010) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1050 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-12 22:36:56 +00:00
matlabbe
8b8511e154 Merged pcl_integration branch to trunk 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-11 00:12:44 +00:00
matlabbe
97c70d394e core: added rtabmap::deleteLocation(id) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@920 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-08-20 20:37:24 +00:00
matlabbe
6c656e7c57 rtabmap: localization mode (run under fixed memory and fixed dictionary), optional retrieving of the last extracted words when calling rtabmap.process() (useful when in localization mode where the last location is deleted after the rtabmap process) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@882 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-06-10 18:54:11 +00:00
matlabbe
504e51db12 RTAB-Map : added localLoopClosureId for VSLAM use... 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@877 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-06-05 19:25:16 +00:00
matlabbe
b92d0444ac Included UtiLite library directly in Rtabmap source (to simplify the installation) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@855 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-04-30 20:16:01 +00:00
matlabbe
ff6e6f84c5 rtabmap: Added parameter to disable logs of the statistics 
rtabmap: Added parameter to avoid saving to database nodes/words of rehearsed nodes

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@834 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-03-02 21:53:47 +00:00