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Commit Graph

888 Commits

Author SHA1 Message Date
matlabbe
62c7be9f35 Fixed odometry mesh with long edges, Optimizer/Robust is not set false because of some "solution not found" from g2o or gtsam 2016-02-18 15:23:25 -05:00
matlabbe
04d153df59 Fixed export RGB-D SLAM format 2016-02-18 14:49:56 -05:00
matlabbe
829b52db7c Added reset settings for calibration dialog 2016-02-18 14:12:12 -05:00
matlabbe
6b8ab84ba0 Intermediate node fixes for ProximityTime and detecting more loop closures in the GUI 2016-02-18 12:52:15 -05:00
matlabbe
c1c62b0738 Creating a new map when variance >= 9999 is detected 2016-02-18 11:17:42 -05:00
matlabbe
b09429c5d8 minor change 2016-02-17 18:30:35 -05:00
matlabbe
0a913a9cd4 Fixed segmentObstaclesFromGround() build error 2016-02-17 16:01:14 -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
c20bebd3f0 Fixed build with PCL+OpenNI 2016-01-23 16:29:21 -05:00
matlabbe
874816b679 Updated cmake for ARM/Android build 2016-01-21 17:11:57 -05:00
matlabbe
c367fe915e Added ground truth support of Karlsruhe dataset 2016-01-19 21:53:45 -05:00
matlabbe
eb21280f04 Changed CameraModel::isValid() to CameraModel::isValidForProjection() for clarity (in contrast to CameraModel::isValidForRectification()) 2016-01-19 21:01:56 -05:00
matlabbe
d162fcf34e Fixed a warning... 2016-01-19 18:27:58 -05:00
matlabbe
95d21a55f1 fixed build on Wisual Studio+OpenCV2 2016-01-19 18:18:53 -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
35b722ba08 Added Ground truth import GPS format. Alignement between estimated and ground truth poses is done with SVD. 2016-01-15 17:05:55 -05:00
matlabbe
2d6965aa4b Fixed build with g2o on Windows 2016-01-14 17:07:01 -05:00
matlabbe
2ae1b84f85 Fixed not optimized map from first node if we switch RGBD/OptimizeFromGraphEnd parameter on and off while mapping. 2016-01-14 12:44:18 -05:00
matlabbe
6cc511cb80 RtabmapThread: using stamps in odometry messages to throttle detection rate (if stamps are not set, system time is used) 2016-01-14 11:37:39 -05:00
matlabbe
dc2746a365 CameraImages: Added synchronization of captrue time with timestamps 2016-01-13 18:13:44 -05:00
matlabbe
f68203f529 Updated timestamps from filenames parsing 2016-01-13 16:28:22 -05:00
matlabbe
78f47ac619 Updated some parameter group names: OdomBow->OdomLocalMap, OdomFlow->OdomF2F 2016-01-13 12:55:51 -05:00
matlabbe
3293906677 Updated default parameters: GFTT/MinDistance=5 pixels, GFTT/QualityLevel=0.001 Vis/PnPReprojError=2 pixels 2016-01-13 11:53:55 -05:00
matlabbe
136867253d Added "Vis/UseDepthAsMask" parameter (don't detect features where depth is not available or it is over "Vis/MaxDepth") 2016-01-13 09:20:15 -05:00
matlabbe
f6924ba48b Fixed OdometryLocalMap fatal error if new frame has no feature 2016-01-12 17:52:54 -05:00
matlabbe
6928f09c87 Fixed database version=0.10.0 backward compatibility for DBDriverSqlite3::get***MemoryUsedQuery() 2016-01-12 16:43:41 -05:00
matlabbe
c1a5fecbc2 Updated default "Icp/Epsilon" to 1 mm 2016-01-12 12:29:10 -05:00
matlabbe
f39646567a Fixed build error in CameraRGB with OpenCV<3 2016-01-12 12:25:23 -05:00
matlabbe
5136b38111 MacOSX: (g2o) Fixed cholmod library not found. New ICP parameter: "Icp/Epsilon". Fixed null ICP_inliers_ratio with odometry statistics. 2016-01-12 11:37:50 -05:00
matlabbe
42e1590abe Added util3d::projectCloudToCamera() method (creating a registered depth image from the laser scan), used for "Generate depth from scan" option of CameraImages 2016-01-11 17:21:06 -05:00
matlabbe
182fe5f1d2 DbViewer: fixed reversed "Generate laser scan from depth" option 2016-01-10 12:57:49 -05:00
matlabbe
75f85f6b2a Added new options to filter source laser scans. 
SensorData can support laser scans CV_32FC6 format (point cloud with normals). Refactored RegistrationICP and updated CloudViewer to show PointNormal data.
Fixed bug with stereo clouds deterioration if decimation is set (CameraModel::scale()).
 2016-01-08 19:15:49 -05:00
matlabbe
e7565db5d0 0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present). 2016-01-07 19:39:21 -05:00
matlabbe
b8c9f32fd8 MainWindow: added "Edit->Anchor clouds to ground truth" action. Graph::importPoses() Fixed error when loading RGBD-SLAM poses. 2016-01-07 15:48:18 -05:00
matlabbe
6d399b6fb9 Refactoring Odometry 2016-01-07 13:59:21 -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
c064e373e9 Merge branch '0.11.0' of github.com:introlab/rtabmap into 0.11.0 2016-01-05 16:37:27 -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
389d29ebf5 fixed Ubuntu build 2016-01-05 15:44:34 -05:00
matlabbe
2108f449b3 fixed Windows build 2016-01-05 15:29:29 -05:00
matlabbe
1b2f1baf3d Fixed wrong type of RegistrationVis::_PnPrefineIterations member 2016-01-05 15:12:08 -05:00
matlabbe
bf2bd3fe50 Added version to CMake info. Fixed build WITH_CVSBA. 2016-01-04 16:33:34 -05:00
matlabbe
a403a5b7d8 Fixed rectify flag not reset in CameraStereoImages::init() 2016-01-04 12:45:20 -05:00
matlabbe
72101a6d46 Modified default "Stereo/MinDisparity" to 1 2016-01-04 12:17:02 -05:00
matlabbe
9b6d662aaf Rtabmap::parseParameters(): Re-using old parameters (if not updated) when graph optimization approach is re-created. 2016-01-04 11:48:48 -05:00
matlabbe
b578fc732e Fixed Stereo parameters not used for OdometryBOW. Saving parameters in Memory and Feature2D to re-use old parameters when underlaying algorithm strategies are re-created. 2016-01-04 11:41:13 -05:00
matlabbe
51300dde06 Fixed PnP in OpenCV3: added parameter Vis/PnPRefineIterations (default 1) 
CameraRGBDImages: Fixed calibration not loaded
Fixed loading ground truth from RGBD-SLAM format
MainWindow: added ground truth paths in CloudViewer and GraphViewer
 2015-12-22 19:32:52 -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
3292fb1146 Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path. 
Added graph::importPoses().
Can now have a ground truth published with SensorData (filled optionally by CameraImages classes).
Increased database closing time performance when the database is not saved.
Added ParametersToolBox widget in DatabaseViewer for core parameters (refactoring done to make easy access to all rtabmap parameters in DatabaseViewer).
Added Parameters::getType(key).
Added Transform::interpolate() to interpolate between two transforms (SLERP)
Updated pf_filter.m and added test_pf_filter.m MATLAB scripts (making easier to compare with a ground truth)
UPlot: can now save all curve data of a figure in one action (see right-click on legend area->"Copy all curve data to clipboard")
 2015-12-17 14:13:19 -05:00