matlabbe
52a4e8964f
0.13.3: scan2d with normals support/registration
2017-08-28 16:40:07 -04:00
matlabbe
2a9508b4e3
Fixed build for Lunar
2017-08-03 16:40:12 -04:00
matlabbe
f3e491f15b
Added KAZE feature detector (OpenCV3)
2017-07-25 16:20:05 -04:00
matlabbe
f9ed36ed54
Parameters: renamed Rtabmap/VhStrategy to VhEp/Enabled
2017-07-05 13:38:27 -04:00
matlabbe
26147c97cf
PArameters: don't show usage with ORBSLAM2 parameters if not built with it.
2017-06-05 19:10:04 -04:00
matlabbe
133ed68152
Parameters --params: don't show those related to dependencies not built in RTAB-Map
2017-05-31 11:33:51 -04:00
matlabbe
104c1e6945
0.13.0 Database: Added velocity field to Node table, renamed Map_Node_Word table to Feature, added information_matrix field to Link table (replacing rot_variance and trans_variance). Added graph::calcKittiSequenceErrors().Added "Mem/IntermediateNodeDataKept" parameter (default false). Updated all interfaces using rotVariance and transVariance values with covariance matrix instead. g2o SBA: always use covariance in links. kitti-dataset tool: added --disp option and kitti statistics are shown at the end. StatsToolBox: units can have "/".
2017-05-11 15:02:18 -04:00
matlabbe
1b71a96a3d
Added rtabmap-kitti_dataset tool
2017-04-24 12:17:18 -04:00
matlabbe
6f148c47e2
0.12.15 Parameters: added "GridGlobal" parameter group, fixed https://github.com/introlab/rtabmap_ros/issues/162
2017-04-10 16:59:48 -04:00
matlabbe
17121d5861
Added parameter "Grid/ProjRayTracing" and renamed "Grid/3DGroundIsObstacle" to "Grid/GroundIsObstacle"
2017-03-01 14:06:21 -05:00
matlabbe
121446d648
Removed parameter "OdomF2M/FixedMapPath". GUI: added odometry disabled option. Rtabmap can now localize even if odometry input is null (only in localization mode).
2016-11-27 14:30:11 -05:00
matlabbe
693f623e5e
Fixed GUI crash when using rectified RGB only (with odometry). Fixed empty local map when loading a fixed local map for OdometryF2M.
2016-11-25 19:52:34 -05:00
matlabbe
a3afc249ef
Fixed old parameters ignored when reading config file from GUI
2016-11-17 16:08:55 -05:00
matlabbe
ed83d90603
RTAB-Map.exe can be started with parameters as arguments (in similar way than rtabmap-console)
2016-11-16 17:39:17 -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
c404234635
OccupancyGrid: added Grid/Footprint*** parameters, templated segmentCloud() function, added Grid/ClusterRadius parameter. Parameters: fixed getDefaultParameters(group) function to correctly compare groups.
2016-08-31 12:43:54 -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
6ef9034a67
Fixed ICP-only odometry when guess from motion is enabled
2016-08-07 20:54:56 -04:00
matlabbe
ca6cd19fb1
Updated Copyright year and About dialog summary
2016-07-17 21:57:10 -04:00
matlabbe
517bfa5272
OdometryF2M: updated how local scan map is updated
2016-06-25 13:18:09 -04:00
matlabbe
d03b54d95a
Parameters: removed trailing 0 for double/float parameters, to avoid serializing with them (so that we don't have the 0.0 != 0 when loading parameters from database)
2016-06-16 15:34:27 -04:00
matlabbe
38a7993a9b
Database: added "parameters" field in Statistics table. GUI: detecting if parameters in database are different from the Preferences, if so ask user to update them.
2016-06-13 17:34:17 -04:00
matlabbe
4a3f490814
Added Reg/Force2D compatibility name for Reg/Force3DoF
2016-06-09 15:49:17 -04:00
matlabbe
9f6af75f79
Local scan matching: set larger scan points for max scan points when it is not set. Fixed missing scan Ids in links' user data to correctly visualize proximity links by space in DatabaseViewer. CloudViewer: using line instead of arrow between the referential and the frustum. removed parameter "RGBD/ProximityPathScansMerged" as visual proximity by space already does that.
2016-05-20 11:44:50 -04:00
matlabbe
dece54ca3e
Added parameters: Mem/ImagePreDecimation Mem/ImagePostDecimation Odom/ImageDecimation
2016-04-08 16:15:08 -04:00
matlabbe
36d199a2b3
Added "RGBD/OptimizeSlam2d" parameter warning
2016-03-15 12:52:28 -04:00
matlabbe
0ae17ff17d
Added Parameters::parseArguments() and Parameters::showUsage() functions for convenience. Updated OdometryViewer and Console tools to use parseArguments().
2016-03-11 16:54:54 -05:00
matlabbe
62c8be40b9
Added ORB+FastGrid implementation (only with OpenCV2). Updated default parameters: Odom/GuessFromMotion=false, Vis/CorNNType=1. RegistrationVis: octave aware on features matching with motion
2016-03-08 12:31:32 -05:00
matlabbe
264146d8b3
OdomF2M: added Odom/KeyFrameThr=0.5 and OdomF2M/MaxNewFeatures=0 parameters. Set Odom/GuessMotion to false by default.
2016-03-01 20:47:46 -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
9b16d93481
Fixed broken 2D icp from 0.11.0
2016-02-19 15:10:28 -05:00
matlabbe
c6a46a7238
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
matlabbe
95d21a55f1
fixed build on Wisual Studio+OpenCV2
2016-01-19 18:18:53 -05:00
matlabbe
78f47ac619
Updated some parameter group names: OdomBow->OdomLocalMap, OdomFlow->OdomF2F
2016-01-13 12:55:51 -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
2e9634cf65
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
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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.
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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
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
7d35906398
Refactoring: Split all graph optimization approaches in multiple files
2015-11-27 11:09:39 -05:00
matlabbe
7d521819f0
moved Rtabmap::[read,write]Parameters() and getVersion() to Parameters class (readINI(), writeINI() and getVersion()). Added Parameters::getDefaultOdometryParameters() and Parameters::isFeatureParameter() for convenience.
2015-11-26 13:16:01 -05:00
matlabbe
da1129cf79
Refactoring of some parameters (LocalLoopDetection* to Proximity*) and variables in code
2015-11-25 12:15:41 -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
Mathieu Labbe
3d1eccbce1
changed all std::atof() to uStr2Float() to fix locale comma float conversion problem
2015-02-04 21:20:17 -05:00
matlabbe
9ffd103e69
Removed trailing separator from working directory. Replaced all slashes by QDir::separator().
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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1935 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-10-28 05:00:10 +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
29097c023e
Changed license to BSD
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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
8d863b21d5
Added visualization cloud filtering
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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
8b8511e154
Merged pcl_integration branch to trunk
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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
b92d0444ac
Included UtiLite library directly in Rtabmap source (to simplify the installation)
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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