matlabbe
172e9857c7
Fixed RegistrationVis feature matching behavior when NaN 3D keypoints are found
2016-02-24 12:45:00 -05:00
matlabbe
061211b1b6
OodmetryF2M: Added getter to last frame
2016-02-23 11:46:07 -05:00
matlabbe
9e446aab7a
Fixed some signed/unsigned comparison warnings
2016-02-23 11:06:24 -05:00
matlabbe
af37b4b746
Disabled FAST parameters OpenCV2 related parameters in OpenCV3
2016-02-22 18:22:49 -05:00
matlabbe
d7ef170d33
Added parameter "Mem/UseOdometryFeatures=false" to use directly features already extracted from odometry for the vocabulary (issue #32 )
2016-02-22 17:57:40 -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
0d68f74d80
Fixed calibration/laser not saved when compressed images are not saved to db
2016-02-19 21:05:14 -05:00
matlabbe
081be68616
Depth16 set invalid for values = 65535
2016-02-19 18:10:32 -05:00
matlabbe
9b16d93481
Fixed broken 2D icp from 0.11.0
2016-02-19 15:10:28 -05:00
matlabbe
d5538ee99d
DB: loading calibration when reactivating signatures (for PnP registration without reloading compressed data)
2016-02-18 18:25:26 -05:00
matlabbe
e999885f33
Fixed build error when GTSAM is not detected
2016-02-18 16:26:39 -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
72e66605e4
Quiet find package cvsba
2016-01-17 16:01:03 -05:00
matlabbe
89ee7c9664
uIsInteger(): Added checkForSign option (default true)
2016-01-15 17:15:12 -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
444879ffc6
Added ToolTip with color code to loop closure and odometry views
2016-01-14 15:46:54 -05:00
matlabbe
1010f6acff
Fixed GraphView re-scaled when ground truth is null. PreferencesDialog: fixed a bug where some parameters were wrongly modified by default values in the *.ui (blocking signals when setParameter() is called to avoid addParameter() to be called)
2016-01-14 15:30:52 -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
2429910188
fixed build (OdometryViewer tool)
2016-01-13 12:57:12 -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
90525b75a9
Synchronized "Edit database" parameters with tmp ini file used in Main app
2016-01-12 17:07:38 -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
b505b4519a
PreferencesDialog: _parameters and _modifiedParameters are now private
2016-01-12 15:41:55 -05:00
matlabbe
9a0a1fbcbe
MainWindow: Fixed working directory warning in monitoring mode.
2016-01-12 15:06:52 -05:00
matlabbe
f10c415e48
Updated panels order in Preferences dialog. MainWindow: Removed working directory warning in monitoring mode.
2016-01-12 14:54:20 -05:00
matlabbe
a7387d51de
MainWindow: avoiding PreferencesDialog::getAllParameters() in constructor (rtabmapviz issue)
2016-01-12 13:54:37 -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
94adc6fa1b
DbViewer: added ground truth coordinate (when available) in constraints view
2016-01-10 13:07:42 -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
78b37a4b0d
Fixed RGBDImages paths not shown in Preferences
2016-01-07 14:47:32 -05:00
matlabbe
6d399b6fb9
Refactoring Odometry
2016-01-07 13:59:21 -05:00
matlabbe
923ba78bfa
Updated Odometry documentation in Preferences dialog
2016-01-06 17:53:40 -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
1c66ad1db2
MainWindow: config file is cleared before saving settings (to avoid keeping old parameters in the ini file that would trigger a "parameter migration" at each startup)
2016-01-05 16:57:13 -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
97dd9bb7d5
Added printThreadId option in ULogger
2016-01-05 13:55:21 -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
matlabbe
f5c062448d
Odometry: Added Kalman Filtering option
2015-12-14 16:50:17 -05:00
matlabbe
82d76f3e99
Merge branch 'master' of https://github.com/introlab/rtabmap into 0.11.0
2015-12-11 17:44:36 -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
c769f85523
Merge branch 'bckim92-master'
2015-12-08 14:33:50 -05:00
matlabbe
21bd206af7
Cleanup the code and updated error message about device not found (when rtabmap is linked to wrong libusb library)
2015-12-08 14:28:26 -05:00
matlabbe
8b2080df44
Merge branch 'master' of https://github.com/bckim92/rtabmap into bckim92-master
2015-12-08 13:47:49 -05:00
matlabbe
6c452137b2
Fixed wrongly yaw reset instead of pitch when resetting odometry to a pose with Force2D enabled
2015-12-07 10:19:08 -05:00
matlabbe
818eda005f
merged master to 0.11.0
2015-12-02 11:55:46 -05:00
matlabbe
676cd8cbd9
Enabled Source menu on Idle. Fixed calibration file with only the name not found. DBViewer: added max stereo features parameter under Stereo tab.
2015-12-02 11:48:07 -05:00
matlabbe
60f34fe994
Rejecting last loop closures if optimization fails. Fixed _lastLocalizationNodeId not found in optimized poses in Localization mode.
2015-12-01 14:51:26 -05:00
matlabbe
4d97ba80d6
Don't trigger new map in localization mode when identity odom is detected
2015-12-01 12:34:34 -05:00
matlabbe
4e9ba66555
Ubuntu 12.04 an g2o, fixed -std=c++11 error
2015-12-01 11:51:59 -05:00
matlabbe
535cbbac5a
fixed double warnings "Camera has no more images"
2015-11-30 19:59:35 -05:00
matlabbe
fc47d07b85
merged master to 0.11.0
2015-11-30 19:39:05 -05:00
matlabbe
e58f907440
Added CameraInfo class (added Camera tab in Statistics panel). Scans/userData are not saved anymore when Mem/BinDataKept=false. StereoACameraImages: Fixed error when scan path is not set. Refactoring of OdometryOpticalFlow class to provide variance when 3D->2D estimation is used.
2015-11-30 18:49:28 -05:00
matlabbe
d9c9db934a
Commented some debug clouds in RegistrationIcp
2015-11-30 11:26:21 -05:00
matlabbe
38fd459c7b
Merge branch 'master' of github.com:introlab/rtabmap
2015-11-29 16:20:21 -05:00
matlabbe
a16899a829
MainWindow: Updated feedback message when sending a goal fails
2015-11-29 16:20:04 -05:00
matlabbe
f2d6ff6748
Fixed signatures not saved after switching online from Mapping to Localization mode
2015-11-27 17:59:38 -05:00
matlabbe
2945abde9c
DatabaseViewer: fixed "Graph not created" error when clicking on export map/graph actions
2015-11-27 15:36:57 -05:00
matlabbe
69a04121a3
Added Mem/MapLabelsAdded parameter (default true)
2015-11-27 14:57:29 -05:00
matlabbe
096684ed94
Neighbor link refining: set small variance if small displacement and variance=1
2015-11-27 13:04:01 -05:00
matlabbe
7d35906398
Refactoring: Split all graph optimization approaches in multiple files
2015-11-27 11:09:39 -05:00
matlabbe
93326ab1fe
Refactoring: changed Statistics name "OdometryCorrection" to "NeighborLinkRefining"
2015-11-26 16:22:46 -05:00
matlabbe