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
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
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
988e83cf1c
Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label.
2015-10-13 12:50:25 -04:00
matlabbe
fbf967066a
Added LccBow/VarianceFromInliersCount parameter (linked with Odom/VarianceFromInliersCount in standalone gui)
2015-10-02 10:40:18 -04:00
matlabbe
bf0790f3b9
Added Odom/VarianceFromInliersCount parameter (default false)
2015-09-28 21:45:41 -04:00
matlabbe
f912023a30
GUI: custom aspect ratio, option to save auto screenshots in RAM, default views updated (reseting 3D map camera position and hiding the status bar)
2015-09-04 13:46:37 -04:00
matlabbe
7a721105ae
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
matlabbe
a2b9c9f9a0
Updated rehearsal behavior when there are intermediate nodes and RGBD/LinearUpdate,RGBD/AngularUpdate are set.
2015-08-28 23:05:45 -04:00
matlabbe
ce2bbd8feb
CameraThread: Added stereo to depth option. Added parameter "Mem/SaveDepth16Format".
2015-08-27 17:16:12 -04:00
Mathieu Labbé
abdd3de773
Mesh reconstruction update: fixed normals computation (with and without MLS)
2015-08-11 17:19:12 -04:00
matlabbe
2877a14360
Added CameraRGBDImages class (read RGB-D images from a folder)
2015-07-30 14:17:29 -04:00
matlabbe
b358ffd45d
Labels shown in the GUI (added also "Label current location..." action in Detection menu)
2015-07-26 15:50:39 -04:00
matlabbe
8754da7420
Added StereoVideo source input (side-by-side video)
2015-07-16 14:44:25 -04:00
matlabbe
fce1816c21
added subtractFiltering() method to filter point clouds by subtracting the previous cloud
2015-06-29 00:19:45 -04:00
matlabbe
6df403ed42
Refactored Camera classes and Preferences->Source menu
2015-06-26 18:21:32 -04:00
matlabbe
01f2f1348c
Added OdomBow/FixedLocalMapPath parameter
2015-06-25 16:04:42 -04:00
matlabbe
b8dccc2228
Added CameraStereoImages class to read stereo images from a directory. Added a particle filter to smooth odometry trajectory. Added parameter RGBD/OptimizeEpsilon to limit TORO iterations when error improvement is small. Added Rtabmap/CreateIntermediateNodes parameter: this can be used to keep all odometry poses 'between' nodes used for loop closure detection. Added PnP approach to loop closure constraint estimation. Fixed decimation of stereo images when image size is odd.
2015-06-11 16:57:16 -04:00
Mathieu Labbe
679d9deca0
Added message box when calibration cannot be done on a specified driver. Added HD option in Source panel for Freenect 2.
2015-05-05 18:21:43 -04:00
Mathieu Labbe
f32319f0dc
Added notification message box when a global path is computed. Refactoring occupancy grid.
2015-05-05 17:38:38 -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
db90da7303
Updated how local scan matching is done (doing it on segmented local paths)
2015-04-27 02:43:06 -04:00
Mathieu Labbe
fa3a2421f6
Added Monocular SLAM (experimental), Odometry classes refactoring
2015-04-23 22:01:41 -04:00
Mathieu Labbé
3ed6a1b2f0
Version 0.8.9: added FlyCapture2 driver for bumblebee2 (tested only on Windows)
2015-04-07 12:00:10 -04:00
matlabbe
5b5a32839c
Added close buttons to CameraViewer and OdometryViewer dialogs
2015-04-06 13:35:44 -04:00
Mathieu Labbe
04b35b2adf
GUI: Added new Freenect2 and StereoDC1394 source options.
2015-04-06 00:28:04 -04:00
Mathieu Labbe
ad6ee69ac6
Grid map: added "erode" option
2015-03-20 14:03:09 -04:00
Tobias Fischer
b5e015ec8f
Add QT5 Support
2015-03-16 22:54:19 +00:00
Mathieu Labbe
ee7a5f591a
GUI: updated Source menu check behavior, checking if "rtabmap.tmp.db" exists before deleting it (in case of another RTAB-Map is running in the same working directory)
2015-03-01 19:41:03 -05:00
matlabbe
cf69f17925
Added Source/Mirroring parameter for convenience
2015-02-28 18:09:22 -05:00
Mathieu Labbe
38a4e8e4ee
Updated how locations are retrieved on a planned path or near based on space if no path is activated.
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Added mirroring option to OpenNI2 camera
Removed "RGBD/MaxAnticipatedNodes" and "RGBD/GoalMaxDistance" parameters
Renamed "RGBD/LocalLoopDetectionRadius" to "RGBD/LocalRadius"
Added "RGBD/MaxLocalRetrieved" parameter
GUI: fixed OpenNI 2 selection from the MainWindow, added OpenNI2 under Kinect menu
2015-02-20 15:32:39 -05:00
Mathieu Labbe
4279625d03
set PreferencesDialog::getTmpIniFilePath() virtual for ROS overriding
2015-02-16 17:14:08 -05:00
Mathieu Labbe
2f4acb9581
GUI: Core parameters should be explicitly saved
2015-02-13 16:50:32 -05:00
Mathieu Labbe
7c65dbf6bb
Improved occupancy grid map construction performance
2015-02-11 17:03:46 -05:00
Mathieu Labbe
a2dde36093
Integration of the path planner into rtabmap's memory management to actually retrieve nodes on the planned path on the graph.
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Added Rtabmap::clearPath(), Rtabmap::computePath(), Rtabmap::getPathGoalId() and Rtabmap::updateGoalIndex() methods.
Added virtual links when path retrieval is activated (virtual links are not saved to database and removed when the path goal is reached).
New parameters: RGBD/GoalReachedRadius and RGBD/MaxAnticipatedNodes
Refactored how loop closure hypotheses are selected (fixed ratio between consecutive hypotheses, not the last loop closure).
Updated getNodesInRadius() to use all filtered scans.
GUI: window can be saved/loaded maximized
GUI: saving Graph View parameters to config.ini
2015-01-30 15:30:57 -05:00
Mathieu Labbe
f9fb6216d8
GUI: Optimized odometry display
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GUI: moved alpha parameter into ImageView object
2015-01-23 15:16:05 -05:00
Mathieu Labbe
7a6bf630ca
Moved some util3d methods to Transform.h, Graph.h and Compression.h
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Added computePath() method implementating A star on graph
GUI: SetWindowModified() and user should explicitly save the GUI config to keep them
Calibration: added mirror checkbox, added device id argument
2015-01-23 11:17:42 -05:00
Mathieu Labbe
645d2c4973
Saving ExportCloudsDialog and PostProcessing parameters to config file.
2015-01-14 11:02:17 -05:00
Mathieu Labbe
fb0b23ae06
saving CloudViewer settings (Camera,Trajectory,Grid) in the config file
2015-01-13 18:11:34 -05:00
Mathieu Labbe
cd3bd2948e
fixed checked/unchecked actions of menu "Select Source..."
2015-01-12 16:53:18 -05:00
matlabbe
7f7d05e243
The graph is also sent in appearance-only mode. Added posterior hypotheses color on the graph view. Some minor fixes.
2015-01-07 17:30:20 -05:00
matlabbe
3dfbde3b0d
OpenNI2: added parameters to control autoWhiteBalance and autoExposure
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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2056 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-11-20 22:00:47 +00:00
matlabbe
f12fc93639
Added option to show graphs in the 3D map view. (See "General Settings->3D rendering->Show Graphs" default true)
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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
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.
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- 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
d0325f3171
Added util3d::occupancy2DFromCloud3D() and util3d::create2DMapFromOccupancyLocalMaps() methods to create 2D occupancy maps from 3D clouds
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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1899 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-10-20 02:14:31 +00:00
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
1367143171
Added "Test" button in the Source panel in Preferences to test alone the RGB-D camera.
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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1810 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-10-01 17:30:44 +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
8e65812324
Added interpolate parameter to util3d::getDepth()
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Added Reset calibration button
Added Sense 3D scanner input source
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1625 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-07-30 17:42:58 +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.
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-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