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384 Commits 25 Branches 135 Tags
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14 Commits
Author SHA1 Message Date
Mathieu Labbe 9e1d38fe09 added Odometry view to MainWindow, increased version to 0.7.3 2014-12-02 17:01:24 -05:00
matlabbe f12fc93639 Added option to show graphs in the 3D map view. (See "General Settings->3D rendering->Show Graphs" default true) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1943 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-30 19:38:58 +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 9559eee614 Export dialog keeps last config. Updated "clear the cache" to remove all visible images/trajectory/background color. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1811 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-01 17:52:27 +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 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 f34907f92f Added optimizeFromGraphEnd (default true) parameter. It can be used to keep the map referential from the oldest node in the current graph 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1441 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-06-25 23:00:35 +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 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 8d863b21d5 Added visualization cloud filtering 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1077 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-02-13 21:32:46 +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 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