matlabbe
7ec58c63e9
SensorData/Memory: fixed assert for scan channels 5 an 7
2017-08-28 17:37:57 -04:00
matlabbe
732223e832
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
matlabbe
a1c036a7e2
removed warning when setting user data to SensorData if compressed user data is already here
2017-02-22 14:38:42 -05:00
matlabbe
ac1c5f81ae
fixed some compilation warnings
2017-01-03 22:14:21 -05:00
matlabbe
6abed48af6
0.11.13. OdometryF2M: fixed/improved bundle adjustment option. OptimizerG2O: now doing stereo BA instead of mono BA (interface of Optimizer::optimzeBA() has slightly changed to include depth in word references). Registration and Odometry set angular and linear variances separately. RegistrationVis set x100 smaller variance for rotation. Added keypoints3D member to SensorData. Added Transform::getAngle() for convenience. Odometry normalizes variances. RtabmapThread does variance summation when frames are discarded. Updated how variance is computed by util3d::estimateMotion3Dto2D(), ignoring very large variance from the computation (stereo issue with very far matched features). MainWindow: added option to align with ground truth or not (default true as before), added for odometry statistics (including bundle stuff), update ground truth statistics every time a graph is loaded/optimized. CameraRGB can now load odometry files (to fake an input odometry). PreferencesDialog: Added option to Odometry so it can use a different registration approach than the default one (the one used for loop closure). Parameters: added new g2o/Solver option 3 (Eigen), added g2o/RobustKernelDelta, g2o/Baseline and Odom/VisKeyFrameThr. Database: from 0.11.13, ignoring patch version when comparing is database version is newer than app version used.
2017-01-03 21:05:00 -05:00
matlabbe
d2287ab9f4
Backward compatibility (DBViewer, DBReader) with old database format not saving CameraModel's image size, cx and cy
2016-12-02 13:43:44 -05:00
matlabbe
9276607920
Added Bundle Adjustment options to OdometryF2M (OdomF2M/BundleAdjustment) and RegistrationVis (Vis/BundleAdjustment). Added logger thread filter. RegistrationVis: Copy back corresponding input word IDs to output words when available. Memory::computeTransform() added option to use already computed corespondences if possible (proximity detection by time uses this). Updated Optimizer::optimizeBA() interface.
2016-11-14 19:54:31 -05:00
matlabbe
b7fae1a65b
SensorData: updated how compressed user_data is detected
2016-09-26 16:33:24 -04:00
matlabbe
a4dd47374e
Backward compatibility: Fixed wrong image height set in SensorData::uncompressData()
2016-09-25 18:13:49 -04:00
matlabbe
013eba1d58
0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes.
2016-08-31 12:43:53 -04:00
matlabbe
ca6cd19fb1
Updated Copyright year and About dialog summary
2016-07-17 21:57:10 -04:00
matlabbe
543b8df045
MainWindow: Added statistics about how much size the created clouds take in RAM. Avoid caching data on small movements. Export: Fixed meshing checkbox and pipeline combo box not saved/loaded. PreferencesDialog: Added option to disable caching the point clouds. computeNormals(): added viewpoint parameter. mls(): making sure that all returned normals are normalized.
2016-06-12 17:53:35 -04:00
matlabbe
8e1fc0df56
Calibration: added support for stereo IR cameras
2016-04-25 09:52:03 -04:00
matlabbe
c6a46a7238
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
matlabbe
75f85f6b2a
Added new options to filter source laser scans.
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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
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
58190d5422
Added more Freenect2 options
2015-11-04 18:31:52 -05:00
matlabbe
02ebb3c7e8
Some fixes:
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-Memory: Fixed wrongly rejected scan matching transform because of too large correction
-DBViewer: Fixed not shown proximity scans
-DBDriver: Fixed not loaded links' user_data on getAllLinks() method
-MainWindow: Added planning statistics
-DBReader: set a maximum of 10 sec sleep if the map ID has changed
2015-10-26 12:59:20 -04:00
matlabbe
55834644cf
Increased database version to 0.10.7: added scan_max_range column. Create2DMap: updated unknown cells filling depending on max laser scan range. Added util3d::frustumFiltering() to filter points in a specified frustum.
2015-09-17 22:55:45 -04:00
matlabbe
6bbde72840
Source images: fixed starting position to 1 (not 0) when selecting a folder, removed all asserts on valid caemra model in SensorData
2015-07-18 16:02:11 -04:00
matlabbe
4f96fd3530
Version 0.10.1: user_data is now a cv::Mat to avoid a deep copy when SensorData is copied
2015-06-28 19:22:18 -04:00
Mathieu Labbe
7d72aa83bc
fixed sensor data not loaded on 0.10.0 database version
2015-06-06 19:20:38 -04:00
Mathieu Labbe
9e13642a47
fixed runtime errors for single depth camera and stereo
2015-05-30 20:05:35 -04:00
Mathieu Labbe
c6d0d47b1c
Added multi-camera feature
2015-05-29 14:46:48 -04:00
Mathieu Labbe
1f8fc91f46
fixed DatabaseViewer Export's options
2015-05-06 13:05:32 -04:00
Mathieu Labbe
abb7eb15ac
Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table
2015-05-01 07:30:09 -04:00
Mathieu Labbe
fa3a2421f6
Added Monocular SLAM (experimental), Odometry classes refactoring
2015-04-23 22:01:41 -04:00
Mathieu Labbe
fee32c4e25
Added stereo option for the CalibrationDialog class
2015-04-05 16:42:41 -04:00
Mathieu Labbe
653248bde8
Added some asserts to chaeck inf variances
2015-04-02 11:32:58 -04:00
Mathieu Labbe
f847bb9f9f
fixed TOROOptimizer::loadGraph(), added some assert to make usre that rotational and transitional variances are not null
2015-04-01 12:50:29 -04:00
Mathieu Labbe
186dc60a49
Version 0.8.8: added "user_data" field in database. Added WifiMapping example. Fixed FATAL error when initializing rtabmap with no database.
2015-03-25 13:31:12 -04:00
Mathieu Labbe
721de2e76b
Database update (version 0.8.5): added Node.stamp and Node.label fields
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Added labeling mechanism of nodes (by default the first node of a map is tagged "map#")
2015-02-27 15:24:15 -05:00
Mathieu Labbe
eb96fe1249
increased version to 0.8.4: Database Link's "variance" field split into "rot_variance" and "trans_variance". Added Parameter LccIcp/HighTransitionalVariance
2015-02-24 16:06:02 -05:00
Mathieu Labbe
744e2fb3c7
Updated version to 0.8.0
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Libraries are installed in lib directly with symbolic links, not in lib/rtabmap-0.8. Removed the need of RPATH in cmake.
Saving variance of each link in database (new field Link.variance). The variance is used to generate the constraint information matrices for TORO optimization.
ICP: computing variance instead of fitness.
ICP3: added correspondences ratio parameter
Added OdometryInfo class
Refactoring: renamed depth2d stuff to laserScan. rtabmap::Memory and rtabmap::Signature classes (no more distinct neighbor, loop closure or child loop closure links, only links with different types)
2014-12-14 16:42:10 -05:00
matlabbe
8b67633b34
Refactored Odometry class:
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-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
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