matlabbe
ef4aff7d34
fixed gps fields missing in non-android build
2017-09-21 21:28:39 -04:00
matlabbe
b737df9c40
Merge branch 'devel' of https://github.com/introlab/rtabmap
2017-09-19 14:40:19 -04:00
matlabbe
aca005c287
Added parameter "IcpPointToPlaneMaxComplexity". Added util3d::computeNormalsComplexity(). OdomInfo has now RegistrationInfo field to avoid duplicating members.
2017-09-11 13:17:53 -04:00
matlabbe
68fb5d7252
Calibration tool: fixed usb stereo option
2017-09-08 11:30:29 -04:00
matlabbe
52a4e8964f
0.13.3: scan2d with normals support/registration
2017-08-28 16:40:07 -04:00
matlabbe
84af88ee40
Update main.cpp
2017-08-17 10:37:28 -04:00
matlabbe
4ac422314d
fixed some compilation warnings
2017-06-09 13:44:09 -04:00
matlabbe
6f9ac4b88b
fixed some compilation warnings
2017-05-23 17:30:23 -04:00
matlabbe
385b7e3389
Parameters: Added "Reg/VarianceNormalized". Registration: Transforms are now only normalized in Registration. Added rgbd_dataset tool. MainWindow: odom inliers-only shown option. ExportCloudsDialog: ignoring intermediate nodes for texturing (if they don't have data). DatabaseViewer: "optimized" checkbox enabled in Constraints view for non-neighbor links too.
2017-05-22 11:48:01 -04:00
matlabbe
104c1e6945
0.13.0 Database: Added velocity field to Node table, renamed Map_Node_Word table to Feature, added information_matrix field to Link table (replacing rot_variance and trans_variance). Added graph::calcKittiSequenceErrors().Added "Mem/IntermediateNodeDataKept" parameter (default false). Updated all interfaces using rotVariance and transVariance values with covariance matrix instead. g2o SBA: always use covariance in links. kitti-dataset tool: added --disp option and kitti statistics are shown at the end. StatsToolBox: units can have "/".
2017-05-11 15:02:18 -04:00
matlabbe
51c353e504
DatabaseViewer: Added ground truth statistics
2017-04-24 13:04:31 -04:00
matlabbe
1b71a96a3d
Added rtabmap-kitti_dataset tool
2017-04-24 12:17:18 -04:00
matlabbe
d21ae76fff
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
matlabbe
bf01a1d138
consoleApp: fixed redefined i
2017-01-07 15:04:36 -05:00
matlabbe
74ae1429a1
Camera tool: fixed compilation warning
2017-01-06 13:57:07 -05:00
matlabbe
6550a52cee
fixed #152
2016-12-05 15:53:19 -05:00
matlabbe
43ff7e4b3e
rtabmap-console: added "skip" option for convenience
2016-11-17 16:18:19 -05:00
matlabbe
cb31a717cf
rtabmap-console: added fake initialization at startup to make sure all external libraries are loaded before processing the first frame
2016-11-15 16:49:58 -05:00
matlabbe
60c406d6ec
EipolarGeometry: added missing dictionary.update()
2016-10-23 14:01:44 -04:00
matlabbe
acb700bd27
Added OpenNI2 and Freenect calibration #115
2016-09-13 18:26:18 -04:00
matlabbe
9d09c509ab
Added librealsense support #100
2016-07-26 18:39:34 -04:00
matlabbe
ca6cd19fb1
Updated Copyright year and About dialog summary
2016-07-17 21:57:10 -04:00
matlabbe
4cd8705710
Fixed cloudFromDepth() method when depth image is not the same size as the calibration file. That fixes projection map created from Tango databases (where depth size != rgb size)
2016-07-08 12:47:23 -04:00
matlabbe
ca95c9de97
Changed an OpenCV_LIBS to OpenCV_LIBRARIES
2016-06-24 21:00:12 -04:00
matlabbe
0ec39e3c77
DBReader now inherits from Camera (so that CameraThread's post processing stuff can be used with a database stream)
2016-06-21 11:22:24 -04:00
matlabbe
d9611f784c
Added ZED parameters
2016-06-02 17:27:12 -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
b8c2cd9f94
Auto detect which Qt version to use (Qt5 has priority if both are installed). ROS Kinetic fix for vtk libproj.so not found bug.
2016-05-04 16:45:19 -04:00
matlabbe
30777b630a
Fixed issue #10 (missing one iteration on rtabmap-console)
2016-03-29 13:07:32 -04:00
matlabbe
d6eb923bef
Fixed build for C++03
2016-03-14 18:08:05 -04:00
matlabbe
56bf2b788f
ConsoleApp: parsing rtabmap parameters before app's parameters
2016-03-11 17:01:52 -05:00
matlabbe
0ae17ff17d
Added Parameters::parseArguments() and Parameters::showUsage() functions for convenience. Updated OdometryViewer and Console tools to use parseArguments().
2016-03-11 16:54:54 -05:00
matlabbe
ccc4b4a6c2
Parameters renamed: "OdomLocalMap" group is now "OdomF2M" for Frame to Map odometry. Visual registration feature matching: using guess transform to limit the radius of correspondences "Vis/CorGuessWinSize=16"
2016-02-22 16:13:14 -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
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
2429910188
fixed build (OdometryViewer tool)
2016-01-13 12:57:12 -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
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
matlabbe
9cc94ce1e6
Added Stereo and StereoDense base classes (with Stereo->StereoOpticalFlow and StereoDense->StereoBM) to handle easily stereo parameters. Added stereoEval tool to test Stereo/OpticalFlow=false or true. Added StereoBM parameters. Refactoring of the Preferences dialog (tree view order and some titles)
2015-12-11 17:44:15 -05:00
matlabbe
7d521819f0
moved Rtabmap::[read,write]Parameters() and getVersion() to Parameters class (readINI(), writeINI() and getVersion()). Added Parameters::getDefaultOdometryParameters() and Parameters::isFeatureParameter() for convenience.
2015-11-26 13:16:01 -05:00
matlabbe
ae9f21acd7
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
matlabbe
2ee9183c17
Updated CameraFreenect2 with latest freenect2 library (commit cdeb07917c)
2015-11-03 17:31:07 -05:00
matlabbe
beab2271f0
Added statistics for incremental flann index size
2015-09-09 12:08:51 -04:00
matlabbe
3bd9dd6a53
ImagesJoiner tool: can now merge images from two folders
2015-09-04 08:29:06 -04:00
matlabbe
ce2bbd8feb
CameraThread: Added stereo to depth option. Added parameter "Mem/SaveDepth16Format".
2015-08-27 17:16:12 -04:00
