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929 Commits 29 Branches 163 Tags
d5538ee99d33bb9621a03254064760e7319fd7fa
Commit Graph

589 Commits

Author SHA1 Message Date
matlabbe
d5538ee99d DB: loading calibration when reactivating signatures (for PnP registration without reloading compressed data) 2016-02-18 18:25:26 -05:00
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