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1683 Commits

Author SHA1 Message Date
matlabbe
b717910db8 Fixed QMutex still locked on exit warning. Removing old parameters from ini file on saving. Memory: Removed completely the use of Vis/CorType (only used by F2F odom). 2018-10-04 17:09:03 -04:00
matlabbe
16309e6d18 Added StereoSGBM (fixed #77) (#318) 
* Added StereoSGBM class

* fixed StereoSGBM build for OpenCV2
 2018-10-04 16:10:16 -04:00
matlabbe
6b5990aa04 odom variance verification limited to yaw if 3dof registration/optimization is done 2018-10-02 18:02:55 -04:00
matlabbe
ae08adb8bd warn odom high variance only one time 2018-10-02 15:32:26 -04:00
matlabbe
711184c465 Windows: Fixed linker error 2018-10-02 00:07:34 -04:00
matlabbe
b5dec56eaf Parameters: added RGBD/LoopCovLimited, refactored "detect more loop closures" in MainWindow/DBViewer/rtabmap 2018-10-01 20:22:20 -04:00
matlabbe
0059a4bc1b Camera refactoring (#315) 
* 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
dbb9cfa77a Parameters: Updated description of Rtabmap/TimeThr and Rtabmap/MemoryThr (https://github.com/introlab/rtabmap_ros/issues/276) 2018-09-28 15:37:24 -04:00
matlabbe
02fdd677cf 💄 2018-09-27 16:08:55 -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
0c2287df77 CameraModel fisheye model: fixed typo 2018-09-25 14:36:59 -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
f903ffb927 Fixed regression errors for OpencV2 (#309) 2018-09-18 23:03:40 -04:00
matlabbe
124543c57d Fixed compilation errors with OpenCV 4.0.0 (#309) 2018-09-18 22:43:18 -04:00
matlabbe
829f05e2fb Implemented missing max angular optimization error check for RGBD/OptimizeMaxError 2018-09-18 22:34:15 -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
0cf37fbbf1 Added D415 icon 2018-09-15 11:37:02 -04:00
matlabbe
43e144e7b6 CMake: using external sqlite3 is available, otherwise use internal copy. 2018-09-05 14:22:34 -04:00
matlabbe
f64a5e75d5 fixed fovis.hpp not found when using kinetic libfovis branch of https://github.com/srv/libfovis 2018-08-29 14:48:30 -04:00
matlabbe
30290c36d7 Rtabmap: Added deleteLastLocation() and rejectLastLoopClosure() methods 2018-08-29 12:29:11 -04:00
matlabbe
c105804572 Moved DBDriverSqlite3.h to installed headers (changed some members from private to protected for easier inheritance) 2018-08-27 16:54:23 -04:00
matlabbe
9e13d5600a GUI: Fixed ProbMiss assert when resetting value to default 2018-08-16 16:51:29 -04:00
matlabbe
35d5200a3b Parameters in group GridGlobal: renamed OctoMapOccupancyThr to OccupancyThr, added ProbHit, ProbMiss, ProbClampingMin, ProbClampingMax. Using logodds approach from OctoMap to evaluate occupancy of standard grid map. ref https://github.com/introlab/rtabmap_ros/issues/269 2018-08-16 14:42:05 -04:00
matlabbe
b8847fd006 0.17.5: added --version option on command line 2018-08-14 14:21:44 -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
7f09a9e0cb fixed #293 2018-08-06 16:34:09 -04:00
matlabbe
d5128ddc18 Added parameter Mem/CovOffDiagIgnored (default true) 2018-08-05 12:51:50 -04:00
matlabbe
a0342671ac OccupancyGrid: added getCache() method 2018-08-02 16:53:44 -04:00
matlabbe
e03da92a90 FAST: disabled grid parameters by default 2018-07-27 16:41:19 -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
cfdee23d33 Statistics: added variance info of the loop closure/localization. GUI: Graph view option to show nodes on which loop closures/localizations happened 2018-07-26 14:40:16 -04:00
matlabbe
e95cabb1fc fixed optimization error ratio bug where comparison was done using not highest ratio link but on highest abs error link instead. 2018-07-20 15:11:46 -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
9ae47b79f9 Working MSCKF 2018-07-18 16:15:41 -04:00
matlabbe
15e09cd0a8 Devel: new feature msckf_vio 2018-07-14 20:40:44 -04:00
matlabbe
4632c7650f Reloading fixed dictionary when clearing memory 2018-07-12 10:06:02 -04:00
Nicolai Behmann
281452434c Added support for OpenCV 3 CUDA ORB feature extractor and descriptor (#296) 
* added cuda support for orb with OpenCV 3

* added support for OpenCV 3 CUDA ORB feature detector and descriptor
 2018-07-11 12:33:31 -04:00
matlabbe
ccdde45323 fixed build without RealSense2 2018-07-10 15:06:20 -04:00
matlabbe
35bc2d06a6 Fixed building with RealSense2 on Windows 2018-07-10 13:09:52 -04:00
matlabbe
d41c15dbc7 Rtabmap::computePath() added tolerance parameter to overwrite default RGBD/LocalRadius 2018-07-09 15:11:19 -04:00
matlabbe
62a64cd156 CameraRealSense2: increased wait time from 10 msec to 100 msec 2018-06-28 16:55:33 -04:00
matlabbe
675da6201a Added OdomLOAM/LocalMapping parameter 2018-06-28 11:30:21 -04:00
matlabbe
d447329bf1 Added LOAM (loam_velodyne) odometry support 2018-06-28 11:10:46 -04:00
matlabbe
10b452197d fixed build without realsense 2018-06-19 14:00:26 -04:00