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372 Commits 27 Branches 136 Tags
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40 Commits
Author SHA1 Message Date
matlabbe 89bcea3057 DatabaseViewer: fixed update of constraintView when moving the image sliders. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2049 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-17 22:31:04 +00:00
matlabbe a52536e209 DatabaseViewer: set default stereo parameters instead of hard-coded ones 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2002 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-14 19:07:06 +00:00
matlabbe 7efc6aab2d added EpipolarGeometry::triangulatePoints() (LS and iterative LS) 
Added option to see words3d in constraint view

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1974 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-07 20:04:04 +00:00
matlabbe cbb0185adf Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1967 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-04 18:58:40 +00:00
matlabbe c98db0396b create2DMap() added minMapSize parameter 
dbViewer: fixed refine Visual

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1962 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-03 21:40:54 +00:00
matlabbe 91a6799a40 DatabaseViewer: added action refine links visually 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1961 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-03 19:14:02 +00:00
matlabbe 61ce7c4274 databaseViewer: enabled refineICP for stereo images 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1960 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-03 18:44:21 +00:00
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 0f7cc38688 Memory efficiency: changed std::vector<unsigned char> bytes arrays to cv::Mat to avoid multiple copies when Signature objects are copied. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1937 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 19:57:21 +00:00
matlabbe 4340748fec fixed compilation error on Windows (on util3d::removeNaNFromPointCloud() method) 
increased stability of new actions added (New/Open/Close database).

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1933 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 04:16:36 +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 457c068e0f Refactored how visualization data are transfered between core and gui: using only Signature object instead of separated image,deph,fx,fy... 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1928 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-26 21:47:29 +00:00
matlabbe 60b0fd2e98 Added util3d::segmentObstaclesFromGround() method, templated some PCL methods (new rtabmap/core/impl/util3d.hpp) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1921 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-24 16:58:32 +00:00
matlabbe 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). 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1861 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-16 00:14:23 +00:00
matlabbe 07f4edff3b databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1853 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-14 21:06:30 +00:00
matlabbe 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


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1849 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-13 19:10:22 +00:00
matlabbe 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. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1826 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-02 19:33:51 +00:00
matlabbe c441cc1d0f Added Map color overlay on 3D cloud (press key '2' on keyboard) 
Fixed loading all node ids from database, ignoring children

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1813 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-01 21:44:46 +00:00
matlabbe ebeb116c0d added new statistics (features extracted current image, local map size) shown in GUI for Odometry 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1719 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-25 15:04:35 +00:00
matlabbe c4408920f6 DatabaseViewer: ask saving changes to database on Exit 
New parameter: Mem/InitWMWithAllNodes

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1680 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-21 21:14:17 +00:00
matlabbe c8593df7eb Enabled binary visual words for dictionary (for loop closure detection). 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1677 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-09-09 21:54:32 +00:00
matlabbe e460cb592f Refactoring: Renamed rtabmap::Image to rtabmap::SensorData 
removed keypoints and descriptors stuff from CameraEvent and Image/SensorData
removed keypoints3 from Image/SensorData

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1653 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-18 23:14:04 +00:00
matlabbe 29097c023e Changed license to BSD 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1633 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-11 17:00:55 +00:00
matlabbe 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()
 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1632 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-11 15:23:06 +00:00
matlabbe 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.


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1623 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-29 21:48:37 +00:00
matlabbe f090c81aaf Added CalibrationDialog in Preferences->source for convenience. The database is also changed to handle new FX, FY, CX and CY intrinsic parameters instead of only depthConstant parameter. Added version of the database in a new table Admin. Updated to version 0.7.0. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1613 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-26 04:36:00 +00:00
matlabbe ab1d4eb232 databaseviewer set default CameraLockZ=false on constraints view 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1593 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-23 21:30:27 +00:00
matlabbe 6e7dde2aea DbViewer: added mapId 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1561 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-14 19:16:26 +00:00
matlabbe 7b0a34b150 Save/view high-res point clouds depending on the visible clouds in Map view (only those checked in MapVisibility view) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1437 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-23 20:43:08 +00:00
matlabbe fc59a4bb9c DatabaseViewer: Added total path length under the Graph view 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1342 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-09 22:05:52 +00:00
matlabbe ac626a846e removed ImagesDbExtractor tool (already inside databaseViewer) 
add optional delay to DBReader
added more options to odometryViewer tool


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1264 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-28 22:11:36 +00:00
matlabbe 669e7363cc database viewer: added method generateTOROGraph() 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1253 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-27 17:00:46 +00:00
matlabbe 983cbc3bac Added install targets for dataRecorder and odometryViewer 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1084 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-17 16:18:24 +00:00
matlabbe ea570abb8c New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid) 
New parameter: RGBD/ToroIterations=100
Rtabmap: added getGraph() method to get TORO poses/link constraints
Fixed ICP correspondences ratio over 1
CloudViewer: added frustum culling and camera view up z lock in render(), moving camera using arrow keys, Menu options: Camera far plane clipping, background color
DatabaseViewer: added 3D Map view and Graph view
MainWindow: Moved main widget (loop closure image status) to a dock widget, added Graph view.


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1075 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-11 23:04:22 +00:00
matlabbe 22e3082adc Increased version to 0.6.2 
Memory management tested on RGBD SLAM
Fixed some crashes
New parameter RGBD/LocalLoopDetectionMaxDiffID
New parameter LccIcp2/VoxelSize
Updated parameter LccIcp/Type (added "No ICP" type)
Updated parameter kLccBowMinInliers (inliers minimum reduced to 1)
TORO optimization: The graph root is explicitly defined as the last node added (fixed a TORO crash when a root could not be found)
TORO optimization: only one constraint between neighbors and loop closures
TORO optimization: added initial tree guess
Map correction/Map transform: now only used in localization mode (map correction is always identity on mapping mode)
New statistics: local loop space diff, last loop closure parent and child ids
Database: Fixed empty signatures with no poses loaded
ICP: fixed transform multiplication order
Dump memory: added 3D words
DatabaseViewer: added Export option (added ExportDialog object)
DataRecorder: Option recording in RAM or Hard drive
GUI: added a dock widget (MapVisibilityWidget) to change visibility of nodes in the 3D map
GUI: fixed progress bar step count when generating the map
Menu option: generate TORO graph (full/current map, optimized/not optimized)
Menu option: download map (full/current map, optimized/not optimized)
Preferences: added Reset all settings button
Preferences: A QGroupBox can be a boolean parameter

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1066 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-22 19:49:28 +00:00
matlabbe 2489397b49 DatabaseViewer: reading database on hard drive for each image instead of loading the whole database in RAM. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1064 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-01-15 21:01:37 +00:00
matlabbe 8b8511e154 Merged pcl_integration branch to trunk 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-12-11 00:12:44 +00:00
matlabbe 6c656e7c57 rtabmap: localization mode (run under fixed memory and fixed dictionary), optional retrieving of the last extracted words when calling rtabmap.process() (useful when in localization mode where the last location is deleted after the rtabmap process) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@882 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-06-10 18:54:11 +00:00
matlabbe b92d0444ac Included UtiLite library directly in Rtabmap source (to simplify the installation) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@855 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2013-04-30 20:16:01 +00:00
matlabbe 2836d4c48c merged attention branch to trunk 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@657 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2012-12-11 18:05:05 +00:00