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70 Commits

Author SHA1 Message Date
matlabbe
c068c3c33a MainWindow: added ZR300 menu 2017-04-19 15:24:42 -04:00
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
3434b95d68 Integration of CLAMS depth calibration #114 2016-09-19 14:01:06 -04:00
matlabbe
5dd42cf925 Added r200 icon 2016-08-03 20:03:31 -04:00
matlabbe
9d09c509ab Added librealsense support #100 2016-07-26 18:39:34 -04:00
matlabbe
b4b7b6f455 Added Octomap visualization and export options 2016-07-15 17:46:13 -04:00
matlabbe
6f1f490370 0.11.7: Added ZED sdk support 2016-05-31 19:09:49 -04:00
matlabbe
ad0afc58c0 Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget. 2016-05-05 18:25:26 -04:00
matlabbe
3f48b39ccb MainWindow: Hiding soruce label on monitoring state 2016-03-17 10:47:50 -04:00
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
1f33c39f3c Updated for issue #36: Moved "Export Poses..." to File menu, added "Export images..." action too, updated when some export actions are enabled or disabled 2015-10-16 20:11:24 -04:00
matlabbe
eaff524e30 MainWindow: added updateCacheFromDatabase() method (for ROS rtabmapviz) 2015-10-16 17:43:31 -04:00
matlabbe
988e83cf1c Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label. 2015-10-13 12:50:25 -04:00
matlabbe
c60a808c75 GUI: The global path is transformed in the current referential as the robot moves. Moved Goal actions in Detection menu. 2015-09-21 18:12:55 -04:00
matlabbe
f912023a30 GUI: custom aspect ratio, option to save auto screenshots in RAM, default views updated (reseting 3D map camera position and hiding the status bar) 2015-09-04 13:46:37 -04:00
matlabbe
7a721105ae Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support. 2015-09-02 17:51:43 -04:00
matlabbe
12bd8a1720 Added special export poses for the KITTI dataset 2015-08-25 19:36:48 -04:00
matlabbe
0cf1ea8777 Moved some common include files to public headers folder 2015-08-25 10:32:27 -04:00
matlabbe
698ae0eeda GUI: Added export mesh with textures, refactored Export dialog (more MLS options) 2015-08-24 11:59:26 -04:00
matlabbe
31d374e141 Added cvsba support for post-processing bundle adjustment (SBA) 2015-08-12 20:59:21 -04:00
matlabbe
2d0177f40b Added "File->Export cameras in Bundler format (*.out)" action 2015-08-10 11:39:40 -04:00
matlabbe
554b8978a0 Updated how RtabmapCmdEvent should be called (using UVariant). MainWindow: added new actions to export poses (KITTI, RGBD-SLAM and TORO formats) 2015-08-01 23:42:36 -04:00
matlabbe
b358ffd45d Labels shown in the GUI (added also "Label current location..." action in Detection menu) 2015-07-26 15:50:39 -04:00
Mathieu Labbé
dc48b4d4f4 some fixes for CameraFlyCapture2 driver on Windows, fixed OdometryMono with stereo cameras 2015-07-06 17:25:38 -04:00
matlabbe
6df403ed42 Refactored Camera classes and Preferences->Source menu 2015-06-26 18:21:32 -04:00
matlabbe
290df19cc6 Added "Window->Default views" action 2015-06-21 20:47:41 -04:00
matlabbe
785d2e45dd added refresh icon and added "Donload all clouds" action to toolbar 2015-06-21 20:40:26 -04:00
matlabbe
87063cf357 Added "Cancel goal" action 2015-06-21 20:16:56 -04:00
matlabbe
53f7719655 Added odometry honolomic parameter 2015-06-15 20:53:31 -04:00
matlabbe
b8dccc2228 Added CameraStereoImages class to read stereo images from a directory. Added a particle filter to smooth odometry trajectory. Added parameter RGBD/OptimizeEpsilon to limit TORO iterations when error improvement is small. Added Rtabmap/CreateIntermediateNodes parameter: this can be used to keep all odometry poses 'between' nodes used for loop closure detection. Added PnP approach to loop closure constraint estimation. Fixed decimation of stereo images when image size is odd. 2015-06-11 16:57:16 -04:00
Mathieu Labbe
d7030e0e38 Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved. 2015-05-03 18:16:55 -04:00
Mathieu Labbe
5700c14bcb DatabaseViewer: added exporting of a specific session with or without user_data. MainWindow: added action to send goal to rtabmap. Rtabmap: Saving goals in user_data of the current signature, modified parameter Mem/RehearsedNodesKept to Mem/NotLinkedNodesKept. DBReader: added sending goals when detected while playing back a database. 2015-04-17 18:30:12 -04:00
Mathieu Labbé
3ed6a1b2f0 Version 0.8.9: added FlyCapture2 driver for bumblebee2 (tested only on Windows) 2015-04-07 12:00:10 -04:00
Mathieu Labbe
04b35b2adf GUI: Added new Freenect2 and StereoDC1394 source options. 2015-04-06 00:28:04 -04:00
Mathieu Labbe
6089a44589 Added PnP Pose estimation based Odometry option. Added sensor icons in menu. 2015-03-31 15:45:38 -04:00
matlabbe
56e372f8d2 Updated ImageView with GraphicsView mode disabled by default. Updated DataRecorder. 2015-03-30 10:47:38 -04:00
matlabbe
ae239bcfbc Updated menu/toolbar layout 2015-03-28 21:43:53 -04:00
Mathieu Labbe
7b08a56cb1 updated default layout 2015-02-27 16:00:13 -05:00
Mathieu Labbe
38a4e8e4ee Updated how locations are retrieved on a planned path or near based on space if no path is activated. 
Added mirroring option to OpenNI2 camera
Removed "RGBD/MaxAnticipatedNodes" and "RGBD/GoalMaxDistance" parameters
Renamed "RGBD/LocalLoopDetectionRadius" to "RGBD/LocalRadius"
Added "RGBD/MaxLocalRetrieved" parameter
GUI: fixed OpenNI 2 selection from the MainWindow, added OpenNI2 under Kinect menu
 2015-02-20 15:32:39 -05:00
Mathieu Labbe
2f4acb9581 GUI: Core parameters should be explicitly saved 2015-02-13 16:50:32 -05:00
Mathieu Labbe
7a6bf630ca Moved some util3d methods to Transform.h, Graph.h and Compression.h 
Added computePath() method implementating A star on graph
GUI: SetWindowModified() and user should explicitly save the GUI config to keep them
Calibration: added mirror checkbox, added device id argument
 2015-01-23 11:17:42 -05:00
Mathieu Labbe
9e1d38fe09 added Odometry view to MainWindow, increased version to 0.7.3 2014-12-02 17:01:24 -05:00
matlabbe
1597cfc293 GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1940 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-30 14:43:43 +00:00
matlabbe
b56e03b463 -Updated File menu with new actions "New database...", "Open database", "Close database" and "Edit database". Each new session will be automatically saved when closing the database. The "play" action cannot be activated until a new database is created or a previous session database is opened. 
-  Memory usage reviewed for the GUI: we don't uncompress data for downloaded nodes from "Download all clouds" action.
- Odometry: added optional argument "initialPose" to reset() method

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1930 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 01:20:57 +00:00
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
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
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
2479272161 GUI: Changed "Save" for "Export", moved Export to File menu 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1558 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-14 01:40:50 +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