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  • 3dfbde3b0d OpenNI2: added parameters to control autoWhiteBalance and autoExposure matlabbe 2014-11-20 22:00:47 +00:00
  • 6bf271e04d updated local loop closure (space) map transform on localization matlabbe 2014-11-20 16:47:18 +00:00
  • 57dec696cf fixed not uncompressed depth2D when restarting rtabmap with a prebuilt map for icp constraints matlabbe 2014-11-20 16:20:21 +00:00
  • faf43cc82c Odometry: added force2D option Changed parameter RGBD/ScanMatchingSize to RGBD/PoseScanMatching matlabbe 2014-11-19 23:38:15 +00:00
  • 89bcea3057 DatabaseViewer: fixed update of constraintView when moving the image sliders. matlabbe 2014-11-17 22:31:04 +00:00
  • fe20e03afb GUI: export clouds in binary mode by default matlabbe 2014-11-14 22:07:03 +00:00
  • a52536e209 DatabaseViewer: set default stereo parameters instead of hard-coded ones matlabbe 2014-11-14 19:07:06 +00:00
  • 502804076a demo_robot_mapping.launch: fixed "util3d.cpp:3038::rayTrace() Condition (end.x >= 0 && end.x < grid.cols) not met! [end.x=84 grid.cols=84]" fatal error matlabbe 2014-11-14 15:45:10 +00:00
  • 18596b9627 updated some default parameters mostly related to stereo odometry (flow, stereo, bayes prediction, likelihood tf-idf) matlabbe 2014-11-13 22:28:59 +00:00
  • ae3947988d gui: ui update matlabbe 2014-11-12 16:44:17 +00:00
  • af31410590 Updated EpipolarGeometry methods Experimental: added OdometryMono in epipolar geometry test matlabbe 2014-11-12 15:25:15 +00:00
  • 6608ee5ef6 rtabmap: don't publish statistics if process returns false. Also, don't return true when the displacement is too small (when the related parameters are set) matlabbe 2014-11-11 22:14:45 +00:00
  • f9e25c2fa6 util3d: added bool segmentFlatObstacles (default false) parameter to segmentObstaclesFromGround() method matlabbe 2014-11-11 21:34:14 +00:00
  • 7efc6aab2d added EpipolarGeometry::triangulatePoints() (LS and iterative LS) Added option to see words3d in constraint view matlabbe 2014-11-07 20:04:04 +00:00
  • b5dc120bb9 fixed build error (on EpipolarGeometry) matlabbe 2014-11-06 14:44:32 +00:00
  • a6078bfad4 Added EpipolarGeometry::findFFromCalibratedStereoCameras() matlabbe 2014-11-06 04:50:46 +00:00
  • c8203f2119 added package.xml to rtabmap lib sources matlabbe 2014-11-04 21:21:26 +00:00
  • cbb0185adf Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow matlabbe 2014-11-04 18:58:40 +00:00
  • 54084fc5e1 OdometryFlow: ignore maxDepth when set to 0 matlabbe 2014-11-04 00:06:40 +00:00
  • bb22d6b065 updated grid map margin to +-cellSize instead of 1 meter matlabbe 2014-11-03 22:15:07 +00:00
  • 500ba389b7 fixed create2DMapFromOccupancyLocalMaps() initial map size matlabbe 2014-11-03 22:04:03 +00:00
  • c98db0396b create2DMap() added minMapSize parameter dbViewer: fixed refine Visual matlabbe 2014-11-03 21:40:54 +00:00
  • 91a6799a40 DatabaseViewer: added action refine links visually matlabbe 2014-11-03 19:14:02 +00:00
  • 61ce7c4274 databaseViewer: enabled refineICP for stereo images matlabbe 2014-11-03 18:44:21 +00:00
  • 4140e883b5 typo... matlabbe 2014-11-03 13:53:54 +00:00
  • b476022bbb updated default LccBow/MaxDepth to 4 meters matlabbe 2014-11-03 13:43:52 +00:00
  • 080f31c8be fixed incremental memory when reextracting features matlabbe 2014-11-02 17:14:05 +00:00
  • a3b29eaf4f updated default source input rate to 30Hz matlabbe 2014-11-02 15:21:48 +00:00
  • 15303d0b61 Fixed not loaded data from DBReader matlabbe 2014-11-01 22:00:53 +00:00
  • f12fc93639 Added option to show graphs in the 3D map view. (See "General Settings->3D rendering->Show Graphs" default true) matlabbe 2014-10-30 19:38:58 +00:00
  • 9358234e44 removed virtual signature -1 in rtabmap::getMap() (to avoid error "[ERROR] DBDriverSqlite3.cpp:1103::loadSignaturesQuery() Signature -1 not found in database!") matlabbe 2014-10-30 15:15:20 +00:00
  • 1597cfc293 GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D. matlabbe 2014-10-30 14:43:43 +00:00
  • 4fbefc9ec5 updated RTABMapConfig.cmake to find debug libraries matlabbe 2014-10-28 21:31:16 +00:00
  • 0f7cc38688 Memory efficiency: changed std::vector<unsigned char> bytes arrays to cv::Mat to avoid multiple copies when Signature objects are copied. matlabbe 2014-10-28 19:57:21 +00:00
  • eace13b7a8 GUI: Don't backup empty database... matlabbe 2014-10-28 14:13:53 +00:00
  • 9ffd103e69 Removed trailing separator from working directory. Replaced all slashes by QDir::separator(). matlabbe 2014-10-28 05:00:10 +00:00
  • 850c277dac updated default Source database directory to working directory when empty. matlabbe 2014-10-28 04:25:15 +00:00
  • 4340748fec fixed compilation error on Windows (on util3d::removeNaNFromPointCloud() method) increased stability of new actions added (New/Open/Close database). matlabbe 2014-10-28 04:16:36 +00:00
  • d950c88373 Fixed odometryBOW to correctly set initial pose matlabbe 2014-10-28 01:58:39 +00:00
  • 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 matlabbe 2014-10-28 01:20:57 +00:00
  • 457c068e0f Refactored how visualization data are transfered between core and gui: using only Signature object instead of separated image,deph,fx,fy... matlabbe 2014-10-26 21:47:29 +00:00
  • 60b0fd2e98 Added util3d::segmentObstaclesFromGround() method, templated some PCL methods (new rtabmap/core/impl/util3d.hpp) matlabbe 2014-10-24 16:58:32 +00:00
  • 2bd32e5a95 eclipse fixed nmake target (not JOM) matlabbe 2014-10-24 11:37:06 +00:00
  • 8e55d7847f added util3d::cloudFromDisparity() matlabbe 2014-10-22 20:33:26 +00:00
  • d220301f50 fixed typos... matlabbe 2014-10-22 17:19:53 +00:00
  • c5d1770d84 fixed not all graph nodes visible of the current map in GraphView matlabbe 2014-10-20 21:56:37 +00:00
  • a75136fb9b increased default source rate to 30Hz matlabbe 2014-10-20 20:13:02 +00:00
  • d0325f3171 Added util3d::occupancy2DFromCloud3D() and util3d::create2DMapFromOccupancyLocalMaps() methods to create 2D occupancy maps from 3D clouds matlabbe 2014-10-20 02:14:31 +00:00
  • b97426c83d fixed warning of logStatisticsHeader parameter not set in Preferences matlabbe 2014-10-18 13:12:45 +00:00
  • e03831e7db rtabmap: desactivate graph optimization when RGBD/ToroIterations=0 matlabbe 2014-10-17 23:59:15 +00:00
  • 85526ec106 added Rtabmap/StatisticLoggedHeaders to avoid headers in log files matlabbe 2014-10-16 18:35:00 +00:00
  • fcd3301665 Stereo! The memory can now handle directly stereo images. Disparity can be computed on the fly by keeping left and right images, so for features extraction (and for re-extraction on loop closure), we can compute 3D points precisely. New parameters can be found under "RGB-D Mapping->Stereo". Full image disparity is reconstructed in the GUI (not the core). matlabbe 2014-10-16 00:14:23 +00:00
  • 8f451029e2 Added setDepthColorSyncEnabled(true) for OpenNI2 devices to synchronize RGB and depth images matlabbe 2014-10-16 00:07:25 +00:00
  • 22ce2525fc Added parameter Kp/NewWordsComparedTogether for dictionary, always true but when comparing loop closures with Reextracting features, it is set to false to save time. fixed crash when calling getMap without rtabmap yet initialized. Parameter "LccReextract/LoopClosureFeatures" is now named "LccReextract/Activated" matlabbe 2014-10-14 21:48:50 +00:00
  • 39a9c4ebd8 missing changes for last commit... matlabbe 2014-10-14 21:44:37 +00:00
  • 07f4edff3b databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining matlabbe 2014-10-14 21:06:30 +00:00
  • 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 matlabbe 2014-10-13 19:10:22 +00:00
  • a3f7415821 Refactored OdometryBOW class matlabbe 2014-10-08 00:32:43 +00:00
  • ae57ea6ae5 fixed LccReextract/FeatureType not set in Preferences when loading config.ini. matlabbe 2014-10-07 23:07:23 +00:00
  • 37395a485c Extended KpDetectorStrategy/OdomType/ReextractFeatureType comments for BRISK matlabbe 2014-10-07 10:27:21 +00:00
  • ec50569c66 fixed bow mapping example with RGBD/Enable =false matlabbe 2014-10-07 00:15:54 +00:00
  • 4d4c5af6e5 Fixed crash when using binary descriptors and maxWords/maxDepth are set Added BRISK detector matlabbe 2014-10-06 19:41:45 +00:00
  • d30c2baf51 Changed WIN32 to _WIN32 to handle some 64bits systems where WIN32 is not defined (_WIN32 should be defined both for 32bits and 64bits systems: http://msdn.microsoft.com/en-us/library/b0084kay.aspx). matlabbe 2014-10-03 01:40:17 +00:00
  • 61603cdf0f Fixed missing visual words when parameter Mem/InitWMWithAllNodes is set matlabbe 2014-10-02 20:35:45 +00:00
  • 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. matlabbe 2014-10-02 19:33:51 +00:00
  • 2badfb5faf Upgraded trunk version to 0.7.1 Added version in ini config file Fixed rtabmap-console for loop closure detection-only matlabbe 2014-10-02 15:12:56 +00:00
  • c441cc1d0f Added Map color overlay on 3D cloud (press key '2' on keyboard) Fixed loading all node ids from database, ignoring children matlabbe 2014-10-01 21:44:46 +00:00
  • 317d382a24 New parameter: Rtabmap/StartNewMapOnLoopClosure, when activated and creating a new map, the nodes of the new map will be ignored until a loop closure is found. matlabbe 2014-10-01 19:52:46 +00:00
  • 9559eee614 Export dialog keeps last config. Updated "clear the cache" to remove all visible images/trajectory/background color. matlabbe 2014-10-01 17:52:27 +00:00
  • 1367143171 Added "Test" button in the Source panel in Preferences to test alone the RGB-D camera. matlabbe 2014-10-01 17:30:44 +00:00
  • 9c59a6cf5e fixed saving/loading odomQualityThr to ini file matlabbe 2014-09-25 17:37:11 +00:00
  • ebeb116c0d added new statistics (features extracted current image, local map size) shown in GUI for Odometry matlabbe 2014-09-25 15:04:35 +00:00
  • c5eedd9a9d rtabmap::getGraph() returning mapIds too matlabbe 2014-09-22 18:02:07 +00:00
  • c4408920f6 DatabaseViewer: ask saving changes to database on Exit New parameter: Mem/InitWMWithAllNodes matlabbe 2014-09-21 21:14:17 +00:00
  • a98f819821 Binary descriptors (ORB, BRIEF, FREAK) can now be used for the visual dictionnary: maybe not as discriminative as SIFT/SURF on large environments, the advantage is that RTAB-Map will work without Patent/noncommercial licenses of SIFT and SURF. A new option is added to re-extract features when a loop closure hypothesis is found. Another new option is to force 2D (3DoF) transform on visual odometry and loop closures. matlabbe 2014-09-21 16:51:51 +00:00
  • 02850ec756 Fixed freenect camera to handle K4W (libfreenect must be built from https://github.com/renewagner/libfreenect, k4w-wip branch). matlabbe 2014-09-12 20:27:02 +00:00
  • c8593df7eb Enabled binary visual words for dictionary (for loop closure detection). matlabbe 2014-09-09 21:54:32 +00:00
  • e687302ce0 Don't publish new node data when in localization mode matlabbe 2014-09-09 18:47:04 +00:00
  • edb8245670 removed version suffix from bundle/app name matlabbe 2014-08-29 00:45:50 +00:00
  • 35dbc01166 not forcing to static lib when packaging to bundle matlabbe 2014-08-28 22:32:09 +00:00
  • ee6deb5640 fixed build on Windows matlabbe 2014-08-27 20:47:32 +00:00
  • f251b64310 Added GFTT detector which can be used for Odometry Modified how depth is computed: Now the mean of neighbors is used as the value instead of interpolation... averaging the Kinect noise. matlabbe 2014-08-20 23:05:06 +00:00
  • b0af55699d removed image conversion not used matlabbe 2014-08-19 20:35:09 +00:00
  • 0f4d771160 added description to SURF and SIFT parameters matlabbe 2014-08-19 19:59:02 +00:00
  • e460cb592f Refactoring: Renamed rtabmap::Image to rtabmap::SensorData removed keypoints and descriptors stuff from CameraEvent and Image/SensorData removed keypoints3 from Image/SensorData matlabbe 2014-08-18 23:14:04 +00:00
  • 9aca634b28 added keypoints3 field to Image class matlabbe 2014-08-14 20:29:43 +00:00
  • 7cf89b6d76 Added mapIds to rtabmap::get3DMap() matlabbe 2014-08-13 18:57:17 +00:00
  • 4fba63b882 updated README matlabbe 2014-08-11 18:48:18 +00:00
  • 29097c023e Changed license to BSD matlabbe 2014-08-11 17:00:55 +00:00
  • 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() matlabbe 2014-08-11 15:23:06 +00:00
  • 52af62394e OdometryICP: added p2p (point to point) option matlabbe 2014-08-05 00:35:21 +00:00
  • a0da05a352 fixed some not initialised variables matlabbe 2014-07-30 17:51:05 +00:00
  • 8e65812324 Added interpolate parameter to util3d::getDepth() Added Reset calibration button Added Sense 3D scanner input source matlabbe 2014-07-30 17:42:58 +00:00
  • d3599f7937 fixed build on system with PCL < 1.7.2 matlabbe 2014-07-29 21:55:32 +00:00
  • 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. matlabbe 2014-07-29 21:48:37 +00:00
  • a81f5785a2 Added Export scans and View scans menu actions, fixed occupancy grid voxel size export matlabbe 2014-07-29 14:11:08 +00:00
  • 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. matlabbe 2014-07-29 00:52:35 +00:00
  • 0a385ed75f Odometry: fixed bug using max depth on the local map's points matlabbe 2014-07-28 18:34:17 +00:00
  • cd15107e12 rtabmapviz: re-activated download map/graph "not optimized" options matlabbe 2014-07-28 14:43:25 +00:00
  • 8fe1b1d589 only search for QVTK if VTK5 is found (not for VTK6) matlabbe 2014-07-26 05:23:24 +00:00