matlabbe
077b3ab59e
RegistrationIcp: Added laserScanToDP()
2018-02-17 07:48:10 -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
6e131dcd7e
fixed build on linux
2018-02-16 19:54:49 -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
bfb3a58c01
Optimizer: added optimizeIncremental() method to solve optimization error problems when re-opening the database (when graph should be re-optimized from raw odometry poses, not latest optimized poses, #172 )
2018-02-13 18:18:42 -05:00
matlabbe
02a64a7fa3
Added ctrl-c handling to reprocess and recovery tools.
2018-02-13 16:54:31 -05:00
matlabbe
c6e5f1c9f8
Fixed PCL extract indices filter workaround for PointNormal type (not defined in current released PCL). Compression: Fixed OpenCV memory leak when converting uncompressed depth image to 32F format.
2018-02-13 12:36:23 -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
1595405871
DbSqlite3: fixed Feature.depth_[x,y,z] not saving correctly NaN values (then NaNs were wrongly converted to 0 on reload). Gui: Added stereo exposure compensation option in Source panel.
2018-02-11 16:07:26 -05:00
matlabbe
1c8c233ebf
fixed compilation errors on octomap >=1.8 introduced by previous commit for octomap < 1.8
2018-02-09 11:02:01 -05:00
matlabbe
c2d0628da1
Fixed compilation errors with octomap < 1.8
2018-02-09 10:53:39 -05:00
matlabbe
2e58fa3c2f
Fixed OctoMap build error with version <1.8
2018-02-08 22:04:50 -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
e7ceacc215
Fixed broken incremental prediction matrix from commit 977d21e
2018-02-07 18:16:19 -05:00
matlabbe
90ed9cd15c
Added support for latest g2o code (with c++11 interface)
2018-02-03 15:43:32 -05:00
matlabbe
8ca3bca810
Fixed build error in rtabmap-reprocess without octomap. Fixed non c++11 build for BayesFilter.
2018-02-02 13:12:14 -05:00
matlabbe
70991cf173
fixed a compilation warning and updated usage of benchmarking tools
2018-02-02 08:51:38 -05:00
matlabbe
61199eff9c
fixed CameraThread compilation error with OpenCV<3, added yaml-cpp dependency to travis
2018-02-02 08:35:06 -05:00
matlabbe
3405e8b8e1
Merge branch 'master' of https://github.com/introlab/rtabmap into devel
2018-02-01 22:19:34 -05:00
matlabbe
977d21eed5
Update 0.15.4.
...
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
d7871fec2b
Db: Fixed octave field missing when opening databases prior to 0.12
2017-12-21 14:58:16 -05:00
matlabbe
9f80f4ac42
RegVis: convert to 3dof before SBA
2017-12-21 10:16:46 -05:00
matlabbe
d6058768fc
RegVis: fixed out-of-range vector error when guess is used and we match to projections. ImageView: Added right-click menu option to set a fixed size for features
2017-12-18 14:38:54 -05:00
matlabbe
6a50b3f149
util3d::voxelize() added warning if cloud is not dense, indices empty but cloud not empty
2017-12-15 15:25:37 -05:00
matlabbe
35045aa9d7
CameraRGB: updated error msg when depth format is wrong
2017-12-15 11:14:02 -05:00
matlabbe
398ca1f8e4
0.15.3: util3d::computeVarianceAndCorrespondences(): added max angle parameters for normal type. util3d::downsample(): added Normal types support. OccupancyGrid: fixed 2d scan with 5 channels not handled correctly on update.
2017-12-13 18:12:40 -05:00
matlabbe
f973fc3743
Merge branch 'master' of https://github.com/introlab/rtabmap into devel
2017-12-11 17:10:08 -05:00
matlabbe
d776092b35
RtabmapThread: when receiving new map event from odometry, wait until the buffer has reached the corresponding timestamp before triggering a new map. DBReader: regenerate stamps when sync capture rate with stamps in database is false. MainWindow: ask for PNG or JPEG format when activating auto capture.
2017-12-11 17:09:04 -05:00
matlabbe
775b80eff5
0.15.2: Fixed Transform's not orthogonal rotation matrix causing problems with GTSAM (normalize rotation each time transforms are multiplied, and for backward compatibility automatically normalize rotation of all transforms loaded from old databases prior to 0.15.2). Added Vis/CorGuessMatchToProjection, Icp/PMMatcherKnn and Icp/PMMatcherEpsilon parameters. CameraRGB: fixed max scans number when filtering. Link: transfering maximum covariance when merging. OptimizerGTSAM: updated how covariance are copied based on GTSAM official example. util3d::loadBINCloud(): fixed dim parameter not used. DatabaseViewer: Added option in graph view to ignore intermediate nodes when optimizing the graph.
2017-12-09 21:44:53 -05:00
matlabbe
ff135322f6
Odom/AlignWithGround: fixed random crash when input is stereo and voxel filter is complaining about leaf size too small (limited max depth to 10 meters)
2017-12-06 15:40:41 -05:00
matlabbe
dafaac412f
DbViewer: fit in view the graph when changing iterations. Limited to 900MB creation of the grid map (in case graph is very erroneous).
2017-12-01 11:56:27 -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
274e7c579e
Added some warnings
2017-11-14 16:28:47 -05:00
matlabbe
b820e98bdc
Stereo: min and max disparity parameters are now float. ImageView: adjusted background color of info boxes.
2017-11-14 11:36:37 -05:00
matlabbe
9a9d81ca18
fixed build error with g2o: no member named 'linear' in 'g2o::SE2'
2017-11-09 12:22:32 -05:00
matlabbe
71d9816f4b
0.15: statistics are now compressed in database. Eigen issue: using linear() instead of rotation() to get rotation from affine3f. Increased loading speed of statistics in DatabaseViewer. Added graph:calcRMSE().
2017-11-09 12:03:01 -05:00
matlabbe
8cdd138143
CameraK4W2: added depth to color registration. For CameraFreenect2, kTypeColor2DepthSD is now used by default.
2017-11-06 22:59:12 -05:00
matlabbe
7dabfdc207
Added CameraK4W2 (Kinect for Windows SDK v2 driver)
2017-11-06 00:19:12 -05:00
matlabbe
461dba87db
fixed build without openni2
2017-10-25 17:58:08 +02:00
matlabbe
d4982a8f24
CameraOpenni2: added ir/depth shift parameter
2017-10-25 15:11:26 +02:00
matlabbe
6cee1d9ee6
RtabmapThread: UserData events are added to next node created instead of the last node created (same as rtabmap_ros UserData service)
2017-10-24 19:53:40 +02:00
matlabbe
303f315b3e
fixed assert when Odom/AlignWithGround is true and generated cloud is empty
2017-10-24 11:40:58 +02:00
matlabbe
e595f564b1
Parameters: removed Mem/LaserScanVoxelSize from getRemovedParameters()
2017-10-12 17:03:09 -04:00
matlabbe
bfbabc62c4
Tango: Localization mode can be used in visualization
2017-10-12 15:54:16 -04:00
matlabbe
d4248385f0
Added rtabmap::databaseRecovery() function, added rtabmap-recovery tool, added "Database recovery" menu action in DbViewer
2017-10-11 19:36:00 -04:00
matlabbe
312f6515ff
CameraFreenect2: fixed compilation error when not built with libfreenect2
2017-10-11 13:05:14 -04:00
matlabbe
f6315e48d0
CameraFreenect2: added pipelineName parameter
2017-10-11 12:50:57 -04:00
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
007d23308a
Tango: updated how memory used and database size are computed
2017-10-09 18:04:54 -04:00
