matlabbe
0059a4bc1b
Camera refactoring ( #315 )
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* Camera Refactoring part 1 (Mac OS X)
* fixed camera*** -> Camera***
* Fixed build for cameras Zed/RealSense/RealSense2
* increased version to 0.17.7
* fixed build for cameras K4W2 and FlyCapture2
2018-10-01 19:33:56 -04:00
matlabbe
8b055752aa
RegistrationIcp: Fixed invalid variance set when structural complexity is low and input doesn't have normals. DBViewer: added check on angular error after optimizing the graph when adding a new constraint. Memory: added warning if odom angular variance detected is very high.
2018-09-28 22:02:07 -04:00
matlabbe
3b74534567
Parameters: Mem/LaserScanNormalRadius should be a float
2018-09-27 14:28:51 -04:00
matlabbe
790b0e5cf7
Memory: undistortion of features can be done also for RGB-only case
2018-09-27 10:19:28 -04:00
matlabbe
5e08da51aa
RealSense: fixed color rectification. Fixed ZR300 odometry frame.
2018-09-26 20:51:12 -04:00
matlabbe
b581a62c89
Fixed build with opencv < 2.4.10 for missing fisheye model
2018-09-24 15:09:12 -04:00
matlabbe
c341648a44
Added parameter "Rtabmap/RectifyOnlyFeatures". Added support of fisheye distortion model.
2018-09-24 14:36:54 -04:00
matlabbe
124543c57d
Fixed compilation errors with OpenCV 4.0.0 ( #309 )
2018-09-18 22:43:18 -04:00
matlabbe
84a8e5830e
fixed https://github.com/introlab/rtabmap_ros/issues/274
2018-09-18 12:30:01 -04:00
matlabbe
eedc68c360
fixed #312
2018-09-18 12:20:15 -04:00
matlabbe
30290c36d7
Rtabmap: Added deleteLastLocation() and rejectLastLoopClosure() methods
2018-08-29 12:29:11 -04:00
matlabbe
714d95cc34
Removing redundant non null check before deleting a ptr in destructors #301
2018-08-09 15:53:47 -04:00
matlabbe
d5128ddc18
Added parameter Mem/CovOffDiagIgnored (default true)
2018-08-05 12:51:50 -04:00
matlabbe
4d5b42ab79
rtabmap: parameters passed by arguments override those in the database loaded from command line. Dictionary: set words saved to avoid saving them in database (causing db error when remapping from an old db created by fixed dictionary). G2O: ba supporting words with negative ids.
2018-07-27 16:01:17 -04:00
matlabbe
b63590bf1d
Memory: Fixed features with no id (-1) ignored for triangulation from motion. Dictionary: matching with negative word ids is now allowed
2018-07-26 20:41:54 -04:00
matlabbe
173bd49a26
Handling intial odometry pose in all odometry approaches. For VIO approaches, gravity initialization is handled too. ( #298 )
2018-07-19 14:10:36 -04:00
matlabbe
4632c7650f
Reloading fixed dictionary when clearing memory
2018-07-12 10:06:02 -04:00
matlabbe
432b0dc6f6
fixed a build error
2018-06-01 16:33:11 -04:00
matlabbe
7424a1f463
When Mem/DepthAsMask is false, features without depth are triangulated using odometry. Added parameter RGBD/LocalBundleOnLoopClosure.
2018-06-01 16:26:09 -04:00
matlabbe
c68dde70ec
Memory: added getDatabaseUrl() function
2018-05-25 13:54:29 -04:00
matlabbe
d34a529116
Added Rtabmap/StartNewMapOnGoodSignature parameter
2018-05-24 14:53:47 -04:00
matlabbe
bb0b12be27
Updated not incremental dictionary approach for save/reload (can set a database path as dictionary for convenience)
2018-05-08 18:50:39 -04:00
matlabbe
592b7c66c5
0.17.0: saving optimized poses and last localization pose to database ( https://github.com/introlab/rtabmap_ros/issues/220 ). Parameters: fixed Icp default parameters when not built with libpointmatcher, added RGBD/SavedLocalizationIgnored (default false). DbViewer: added Export/Import 2D map ( https://github.com/introlab/rtabmap_ros/issues/213 ).
2018-04-04 19:14:13 -04:00
matlabbe
d2f7d8a9c4
ExportDialog: Added OpenChisel meshing option
2018-03-26 18:06:41 -04:00
matlabbe
420fecad51
Docker updated artful image. Memory: fixed 2x icp correspondence ratio error (>1.0) when creating registration for icp proximity detection
2018-03-22 11:22:47 -04:00
matlabbe
4969ece356
0.16.3: Added OKVIS support (tested only on EuRoC dataset). Added IMU/IMUThread classes. Added OdomOKVIS/ConfigPath and Rtabmap/ImagesAlreadyRectified parameters. MainWindow, limited odom local feature map to maximum 50 meters from current pose (to avoid VTK glitching with near/far clipping plane).
2018-03-07 19:43:30 -05:00
matlabbe
39b363d0b5
Memory: compute scan max range if not set on signature creation.
2018-02-23 15:52:59 -05:00
matlabbe
1bfde1f9f0
Neigbor refining can be done with any Registration approach. Memory::computeIcpTransformMulti(): correspondences ratio increased by two times to accept transform
2018-02-21 12:23:12 -05:00
matlabbe
db1139e89e
Gui: fixed default color for scans from odom in MainWindow and constraint view in dbviewer. Recovery/reprocess: fixed triggering new map on covariance >=9999. Reg: repeatOnce not done if it has a child. Statistics: added time proximity by space visual info.
2018-02-20 17:33:48 -05:00
matlabbe
d181bedbfc
Gui 3d rendering: added default color scheme option, added min and max range options for laser scans
2018-02-17 09:46:08 -05:00
matlabbe
edbed67afe
Windows: added missing RTABMAP_EXP in LaserScan class. Memory: fixed wrong laser scan format set when filtering is enabled.
2018-02-16 20:56:48 -05:00
matlabbe
a947f8c783
Fixed 2d multi-scan matching fatal error
2018-02-16 20:23:42 -05:00
matlabbe
d24097f73d
0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...)
2018-02-16 19:20:54 -05:00
matlabbe
4c0a612ab5
util3d_filtering: refactored implementations using templates. Parameters: Changed Grid/DepthMin|Max to Grid/RangeMin|Max, added Grid/PreVoxelFiltering, added GridBlobal/OctoMapOccupancyThr. OccupancyGrid: supporting input clouds already having normals. Memory: don't save working directory parameter to database.
2018-02-13 10:16:48 -05:00
matlabbe
fced2c521c
0.16.0: Database updated with Data.empty_cells, Admin.opt_map, Admin.opt_map_x_min and Admin.opt_map_y_min fields. Changed Parameter Grid/ProjRayTracing to Grid/RayTracing (OctoMap ray tracing done for 3D local grids). Improved OctoMap performance.
2018-02-08 21:40:17 -05:00
matlabbe
977d21eed5
Update 0.15.4.
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Parameters:
-Added "GridGlobal/MaxNodes=0", "Rtabmap/PublishRAMUsage=false", "Mem/DepthAsMask=true", "Kp/FlannRebalancingFactor=2.0", "Vis/DepthAsMask=true".
-Modified "Kp/DetectorStrategy=6", "Kp/MaxFeatures=500", "Mem/UseOdomFeatures=true", "GFTT/QualityLevel=0.001", "GFTT/MinDistance=3", "RGBD/OptimizeMaxError=1", "RGBD/ProximityPathFilteringRadius=1", "Odom/GuessMotion=true", "Odom/VisKeyFrameThr=150", "OdomF2M/BundleAdjustment=1", "Vis/Iterations=300" if built with g2o, "OdomF2M/BundleAdjustmentMaxFrames=10", "OdomFovis/MinFeaturesForEstimate=20", "OdomORBSLAM2/MapSize=3000", "Reg/RepeatOnce=true", "Vis/PnPRefineIterations=0" if built with g2o, "Vis/CorGuessMatchToProjection=true", "Vis/BundleAdjustment=1" if built with g2o, "Icp/MaxCorrespondenceDistance=0.1", "Icp/PointToPlaneK=5", "Icp/PointToPlaneRadius=1", "Icp/PM=true" if built with libpointmatcher, "Stereo/MaxLevel=5", "Stereo/MinDisparity=0.5".
BayesFilter: optimized prediction matrix update. Use of new argument "ignoreLocalSpaceLoopIds" of Memory::getNeighborsId() to ignore loop closure link by space in prediction update.
CameraThread: Added stereo exposure compensation option.
CameraRGB: Added forceGroundNormalsUp option and added support of ground truth from EuRoC dataset.
Statistics: Added "Memory/RAM_usage/MB".
Transform: Added clone() method to do deep copy.
Graph::importPoses(): EuRoC format support (9).
Rtabmap: Local visual loop closures are now identified as GlobalClosure link type.
OccupancyGrid/OctoMap: updated how cache is used (old node retrieved can be re-added to map without re-assembling the whole map).
OdometryF2F: when using ICP, increasing correspondence distance for first two frames. If Vis/CorType=1 and registration fails, second guess without motion is done with Vis/CorType=0.
OdometryF2M/RegVis: updated how features are removed from the map, using new projectedIDs filled in RegistrationInfo by RegistrationVis.
OdometryORBSLAM2: Maximum size of the feature map can be set with "OdomORBSLAM2/MapSize" parameter.
CloudViewer: fixed opengl camera drifting in follow mode.
DatabaseViewer: Added optimization scale option. ConstraintsView: hide loop closure links if type is ignored in gui parameters.
MainWindow: Support of "GridGlobal/MaxNodes" parameters when updating the maps.
UPlot: don't show ellipses when not in graphics view mode, updated how "random" colors are attributed to curves
Added rtabmap-euroc_dataset tool. Updated rtabmap-kitti_dataset and rtabmap-rgbd_dataset tools.
Added rtabmap-reprocess tool.
2018-02-01 22:17:46 -05:00
matlabbe
4452e637ad
0.15.1: CameraImages: added ground truth time diff, fixed memory leak when loading binary scans. CameraRGBDImages and CameraStereoImages: fixed start id. Feature2D: added grid rows and cols parameters (Kp/GridRows, Kp/GridCols, Vis/GridRows, Vis/GridCols). OdomInfo: publish bundle frames. OdometryORBSLAM2: added OdomORBSLAM2/Fps and OdomORBSLAM2/MaxFeatures parameters. Registration: added Reg/RepeatOnce parameter and removed variance normalization. For util2d::getDepth() and util3d::projectDepthTo3D(), maxZError parameter is now depthErrorRatio to be dependent of the sensor range. Database: save image width and height from stereo calibration. OptimizerG2O: fixed SBA optimization when using g2o built from ORBSLAM2 library. OptimizerGTSAM: to increase optimization stability, all rotations in information matrix are divided by 100000. Added rtabmap-report tool.
2017-11-30 16:52:03 -05:00
matlabbe
400952b327
ProximitySpace: extracting all paths inside local radius up to max graph depth, no length limit of the proximity space links. Fixed local scan matching assembling bug when laser local transform is set. DbViewer: we can now refine proximity detection by space (laser scan matching).
2017-10-09 18:45:42 -04:00
matlabbe
49f9a1e8d7
Tango: fixed database saved in memory option when disabled (now disabled by default)
2017-10-08 21:55:27 -04:00
matlabbe
9691a4f361
Added GPS class for convenience, database viewer can view GPS values and export to KML format
2017-09-26 14:13:06 -04:00
matlabbe
bfc393a090
0.14: added gps field to Node table in database ( #226 ). Tango: saving gps if enabled, added Rename/Remove/Share on long click in Open dialog ( fixed #233 )
2017-09-21 20:59:45 -04:00
matlabbe
fd18c0b2e9
Added Mem/LaserScanVoxelSize and OdomF2M/ScanSubtractAngle parameters. util3d::computeNormalsComplexity() now returns PCA's eigen vectors and values optionally. RegistrationIcp: detecting complexity of environment when PointToPLane is used, if too low, PointToPoint is done and movements are limited to main direction of the normals.
2017-09-19 14:15:17 -04:00
matlabbe
7ec58c63e9
SensorData/Memory: fixed assert for scan channels 5 an 7
2017-08-28 17:37:57 -04:00
matlabbe
b70ffb6331
fixed multi scans matching with normals, removed some debug logs
2017-08-28 16:40:08 -04:00
matlabbe
423b47a5ff
New 2d scan type: CV_32FC5 (x,y,normal_x,normal_y,normal_z)
2017-08-28 16:40:08 -04:00
matlabbe
52a4e8964f
0.13.3: scan2d with normals support/registration
2017-08-28 16:40:07 -04:00
matlabbe
1ed01b8d3d
Memory: fixed cov->inf conversion error
2017-07-13 11:07:00 -04:00
matlabbe
78bdd4a087
Added check if covariance is invertible, if not an error is thrown
2017-07-12 16:41:47 -04:00
matlabbe
ebada30984
Tango: updated UI
2017-06-28 13:59:20 -04:00
matlabbe
ee8d48a915
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
matlabbe