i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity
302 Commits 29 Branches 163 Tags
d0325f31713225d16271492e0d186dc8e40ccc5a
Commit Graph

62 Commits

Author SHA1 Message Date
matlabbe
d0325f3171 Added util3d::occupancy2DFromCloud3D() and util3d::create2DMapFromOccupancyLocalMaps() methods to create 2D occupancy maps from 3D clouds 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1899 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-20 02:14:31 +00:00
matlabbe
39a9c4ebd8 missing changes for last commit... 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1854 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-14 21:44:37 +00:00
matlabbe
8b67633b34 Refactored Odometry class: 
-new odometry parameters
-new Optical flow strategy
-Stereo data support 
Refactored SensorData class to support stereo images
Updated default parameters (mostly odometry ones)
util3d: new methods to handle/reconstruct 3D clouds from disparity image / stereo images
PreferencesDialog: added Odometry/BOW and Odometry/OpticalFLow panels.
DatabaseViewer: fixed a crash when database is empty. Added cloud reconstruction of stereo images if saved in database
Camera: added 1 second delay to avoid dark images at the starting


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1849 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-13 19:10:22 +00:00
matlabbe
0a807e8cde Found a workaround for Issue 5 to avoid segmentation faults. The data included in the created window are cleared, but the window itself is not destroyed, only when its parent is deleted -> here the MainWindow. It seems that child CloudViewer windows don't crash when deleted on application exit. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1826 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-02 19:33:51 +00:00
matlabbe
c441cc1d0f Added Map color overlay on 3D cloud (press key '2' on keyboard) 
Fixed loading all node ids from database, ignoring children

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1813 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-01 21:44:46 +00:00
matlabbe
9559eee614 Export dialog keeps last config. Updated "clear the cache" to remove all visible images/trajectory/background color. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1811 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-01 17:52:27 +00:00
matlabbe
1367143171 Added "Test" button in the Source panel in Preferences to test alone the RGB-D camera. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1810 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-01 17:30:44 +00:00
matlabbe
ebeb116c0d added new statistics (features extracted current image, local map size) shown in GUI for Odometry 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1719 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-25 15:04:35 +00:00
matlabbe
c4408920f6 DatabaseViewer: ask saving changes to database on Exit 
New parameter: Mem/InitWMWithAllNodes

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1680 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-21 21:14:17 +00:00
matlabbe
c8593df7eb Enabled binary visual words for dictionary (for loop closure detection). 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1677 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-09 21:54:32 +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
29097c023e Changed license to BSD 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1633 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-11 17:00:55 +00:00
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
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
a81f5785a2 Added Export scans and View scans menu actions, fixed occupancy grid voxel size export 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1622 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-29 14:11:08 +00:00
matlabbe
51b5a91c6a Refactoring of Export/View actions: 
Added ExportCloudsDialog class for convenience when Viewing or Exporting clouds/meshes
Added Export grid map action
Clouds shown in the 3D Map view can be directly saved without cloud regeneration.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1621 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-29 00:52:35 +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
1557b3d44d ubuntu 14.04 printf error (missing #include <stdio.h>) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1612 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-25 18:41:50 +00:00
matlabbe
c1497d9e92 added CalibrationDialog class and Calibration tool app 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1587 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-22 22:22:59 +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
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
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
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
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
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
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
8286919750 Standalone version: -fixed ICP odometry selection, -install of rtabmap-databaseViewer 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1286 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-04-02 15:51:02 +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
669e7363cc database viewer: added method generateTOROGraph() 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1253 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-27 17:00:46 +00:00
matlabbe
983cbc3bac Added install targets for dataRecorder and odometryViewer 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1084 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-17 16:18:24 +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
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
2489397b49 DatabaseViewer: reading database on hard drive for each image instead of loading the whole database in RAM. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1064 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-15 21:01:37 +00:00
matlabbe
4a150e3215 fixed delete database action when memory is not yet initialized, enabled gpu SURF option when available 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1055 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-14 02:43:26 +00:00
matlabbe
3eeb911c33 Removed ResetMemory action, disabled viewMesh action when there is no cloud received 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1053 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-13 15:41:21 +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
82cddd1ed1 fixed some compilation errors after the merge 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1021 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-11 01:16:45 +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
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
00ac36747e rtabmap: removed all UtiLite include references for main RTAB-Map classes (to avoid linking to UtiLite when using RTAB-Map as c++ library) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@811 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-02-04 16:38:00 +00:00
matlabbe
47bd83b71d rtabmap: PreferencesDialog: getIniFilePath() is not static anymore (can be inherited) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@790 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-01-29 20:26:56 +00:00
matlabbe
1efc675521 Added PrintLoopClosureIDs action to Edit menu 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@664 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-12-11 19:41:44 +00:00
matlabbe
2836d4c48c merged attention branch to trunk 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@657 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-12-11 18:05:05 +00:00