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1,426 Commits 25 Branches 135 Tags
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Commit Graph
48 Commits
Author SHA1 Message Date
matlabbe 0d0577a886 3D Rendering: Added option to show graph's frustums, added option to filter floor and/or ceiling. 2017-02-09 18:32:44 -05:00
matlabbe ce8bd9ac40 Export: for min polygon cluster size, added option -1 to just keep the largest cluster 2017-02-04 18:28:43 -05:00
matlabbe 8e0e04eae9 CloudViewer: added point picker on doubleclick 2017-01-30 19:51:06 -05:00
matlabbe f61569622a CloudViewer: no need to save texture on disk before rendering TextureMesh (opencv image to vtk texture directly) 2017-01-30 21:23:56 -05:00
matlabbe 3363772ce5 CloudViewer: added backface culling option on right-click menu. MainWindow: removed error msg on wrong decimation (util3d already handle this case) 2016-11-27 20:10:05 -05:00
matlabbe a7971373a6 Added bilateral filtering option. CloudViewer: lighting and edge visibility options. 2016-11-03 17:04:31 -04:00
matlabbe 8d31b6140d CloudViewer: added occupancy grid support for PCL < 1.7.2 2016-08-31 12:43:54 -04:00
matlabbe ca6cd19fb1 Updated Copyright year and About dialog summary 2016-07-17 21:57:10 -04:00
matlabbe b4b7b6f455 Added Octomap visualization and export options 2016-07-15 17:46:13 -04:00
matlabbe 62db5370aa CloudViewer: Added updateCameraFrustum() method (multi-cameras supported) 2016-06-19 18:33:36 -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 0ae131108d CloudViewer: Added local transformation between base frame and camera frame (when they are not the same) 2016-05-17 16:32:21 -04:00
matlabbe ad0afc58c0 Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget. 2016-05-05 18:25:26 -04:00
matlabbe a2e6811645 CloudViewer: Added Frustum visualization 2016-03-12 17:09:01 -05:00
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. 
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 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 45877e7486 GUI export: added mesh quadric decimation factor option 2015-08-24 12:49:45 -04:00
matlabbe 698ae0eeda GUI: Added export mesh with textures, refactored Export dialog (more MLS options) 2015-08-24 11:59:26 -04:00
Mathieu Labbé abdd3de773 Mesh reconstruction update: fixed normals computation (with and without MLS) 2015-08-11 17:19:12 -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 f5dac46252 CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2) 2015-07-24 16:29:45 -04:00
matlabbe 5439d0af46 fixed camera flickers when moving the camera over Z-axis 2015-06-28 12:51:40 -04:00
matlabbe 6fe1e42181 Added OpenCV 3 support 2015-06-18 23:00:46 -04:00
matlabbe dd7d28898b Matching map colors to path/cloud/scan 2015-05-07 15:32:56 -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 6979c0d4b8 CloudViewer: fixed save/load background color 2015-03-17 15:11:05 -04:00
Mathieu Labbe 8fd0f3761a DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter 2015-03-04 17:27:44 -05:00
Mathieu Labbe 1d39db2bcc Removed parameter "LccIcp/HighTransitionalVariance" (Identity covariance is set directly on pose correction and local loop closure detection in space) 
Covariance of virtual links added on the path is set to Identity. For those added to keep the path linked to current map, their covariance is set to 100.
DatabaseViewer: set fixed colors on constraints view
 2015-02-25 17:06:52 -05:00
Mathieu Labbe d97ae60e6c CloudViewer: using QWidget::update() call instead of render directly the window 2015-01-30 17:02:02 -05:00
Mathieu Labbe 7a6bf630ca Moved some util3d methods to Transform.h, Graph.h and Compression.h 
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 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