 matlabbe
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0a1694dd78
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MainWindow: Detect more loop closures: uncompress images when reextract features on loop closure is enabled
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2017-07-24 12:18:19 -04:00 |
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matlabbe
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fa2199c3ea
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Merged master to devel
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2017-06-10 10:34:52 -04:00 |
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matlabbe
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c4ca6a0bac
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Integrated ORB_SLAM2 as an odometry approach Odom/Strategy=5.
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2017-06-05 19:04:23 -04:00 |
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matlabbe
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4f26e34717
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Integrated DVO odometry approach
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2017-05-31 20:57:24 -04:00 |
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matlabbe
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21e716b08a
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Updated default Vis/EstimationType=1 (PnP). Added all fovis and viso2 parameters.
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2017-05-30 18:29:49 -04:00 |
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matlabbe
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f6e21bd6c8
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Integration of viso2 odometry approach.
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2017-05-30 14:03:46 -04:00 |
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matlabbe
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87a5f69335
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MainWindow: fixed localization pose reset to latest pose in map when lost (localization mode)
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2017-05-23 12:00:33 -04:00 |
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matlabbe
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e8af8f7792
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Added SensorData's globalPose and globalPoseCovariance field. Link: added new type PosePrior. g2o: adding edge prior for self-refering edges. Memory: adding self-refering link when SensorData's globalPose is set.
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2017-05-22 21:05:34 -04:00 |
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matlabbe
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385b7e3389
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Parameters: Added "Reg/VarianceNormalized". Registration: Transforms are now only normalized in Registration. Added rgbd_dataset tool. MainWindow: odom inliers-only shown option. ExportCloudsDialog: ignoring intermediate nodes for texturing (if they don't have data). DatabaseViewer: "optimized" checkbox enabled in Constraints view for non-neighbor links too.
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2017-05-22 11:48:01 -04:00 |
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matlabbe
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58e6424bf7
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Export Clouds: export scans integrated in the same dialog (remove export scans dialog)
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2017-05-11 15:02:18 -04:00 |
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matlabbe
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7f8ca64f64
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DbViewer: added frame selection when exporting poses. DBDriver: added getLaserScanInfo().
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2017-05-11 15:02:18 -04:00 |
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matlabbe
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104c1e6945
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0.13.0 Database: Added velocity field to Node table, renamed Map_Node_Word table to Feature, added information_matrix field to Link table (replacing rot_variance and trans_variance). Added graph::calcKittiSequenceErrors().Added "Mem/IntermediateNodeDataKept" parameter (default false). Updated all interfaces using rotVariance and transVariance values with covariance matrix instead. g2o SBA: always use covariance in links. kitti-dataset tool: added --disp option and kitti statistics are shown at the end. StatsToolBox: units can have "/".
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2017-05-11 15:02:18 -04:00 |
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matlabbe
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98184c31de
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Export clouds/poses: frame reference can be selected when clouds are not assembled
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2017-05-10 15:53:02 -04:00 |
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matlabbe
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14baca125d
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cloudFromDisparity(): adjusting decimation if not valid with current image size. Standalone: ask user to set other parameters to default if some were set on command line.
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2017-04-28 11:43:27 -04:00 |
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matlabbe
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f023adff4b
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Export: supporting texturing with multi-camera
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2017-04-26 18:39:57 -04:00 |
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matlabbe
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13425e1ad4
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3D Rendering: Added floor/ceiling filtering and normal estimation for scans
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2017-04-24 19:12:53 -04:00 |
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matlabbe
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4e3216a75d
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SourceRGB: added rectify option for all types (including usb camera)
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2017-04-24 14:11:38 -04:00 |
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matlabbe
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1b71a96a3d
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Added rtabmap-kitti_dataset tool
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2017-04-24 12:17:18 -04:00 |
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matlabbe
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c068c3c33a
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MainWindow: added ZR300 menu
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2017-04-19 15:24:42 -04:00 |
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matlabbe
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5814724600
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Fixed cloud -1 not found on export, fixed cloud visibility doing nothing to cloud -1
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2017-04-18 23:08:28 -04:00 |
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matlabbe
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6f148c47e2
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0.12.15 Parameters: added "GridGlobal" parameter group, fixed https://github.com/introlab/rtabmap_ros/issues/162
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2017-04-10 16:59:48 -04:00 |
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matlabbe
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b7dbf27931
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Parameters: added Grid/FullUpdate (default true). Updated how occupancy grid is updated after loop closure. OctoMap: added tree depth argument when creating 2d map, added full update argument on constructor (default false). MainWindow: using OccupancyGrid object instead of keeping in cache local grids (we can have actual time to update the global grid).
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2017-04-07 18:31:11 -04:00 |
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matlabbe
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1d8952867d
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MainWindow: added timing stats on global map creation. Updated util3d::occupancy2DFromLaserScan() and util3d::create2DMap() interfaces (hit/noHit scans in opencv matrix format). Parameter default: Grid/ProjRayTracing=true, Grid/NormalK=true
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2017-04-06 12:27:12 -04:00 |
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matlabbe
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767b29d5a3
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Updated detect more loop closures with optimization check to accept (like in dbviewer). DBViewer: added Depth image edition dialog. GainCompensator: now doing it on 3 channels separatly. Export: removed gain's alpha option, added max polygons option, added brightness/contrast auto balance option
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2017-03-31 18:56:52 -04:00 |
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matlabbe
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d21ae76fff
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0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
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2017-03-12 21:21:09 -04:00 |
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matlabbe
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719416741f
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Fixed "Export octomap..." not enabled on first load of the OctoMap
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2017-03-08 08:33:43 -05:00 |
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matlabbe
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4db957f437
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Increased polygon texturing step speed
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2017-03-04 02:53:11 -05:00 |
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matlabbe
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2565239a1b
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Export dialog: hiding not used options, exporting can be now canceled on texturing phase
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2017-02-26 18:17:00 -05:00 |
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matlabbe
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526fdb495b
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Loop closure view: Added legend "gray" color for features not quantized in vocabulary (-1)
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2017-02-23 11:49:33 -05:00 |
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matlabbe
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af1cdadabd
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Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
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2017-02-15 19:07:10 -05:00 |
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matlabbe
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0d0577a886
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3D Rendering: Added option to show graph's frustums, added option to filter floor and/or ceiling.
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2017-02-09 18:32:44 -05:00 |
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matlabbe
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f61569622a
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CloudViewer: no need to save texture on disk before rendering TextureMesh (opencv image to vtk texture directly)
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2017-01-30 21:23:56 -05:00 |
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matlabbe
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8f797e81ae
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Export: added option to remove not textured/colored polygons. Cloud generation: Black pixels can be projected. Added RoiRatios options to 3D Rendering and Export. Added fill depth holes option to Export.
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2017-01-16 01:32:53 -05:00 |
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matlabbe
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f20cb6ff52
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Preferences: fixed map opacity limited to 0.75 min. Making sure that normalized variances are set to epsilon if result is 0.
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2017-01-05 18:08:20 -05:00 |
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matlabbe
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716337b71a
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normalize variance in loop closure
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2017-01-05 17:22:49 -05:00 |
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matlabbe
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dfb965cfa9
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Fixed bundler exportation not using local transform
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2017-01-04 17:49:59 -05:00 |
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matlabbe
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6abed48af6
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0.11.13. OdometryF2M: fixed/improved bundle adjustment option. OptimizerG2O: now doing stereo BA instead of mono BA (interface of Optimizer::optimzeBA() has slightly changed to include depth in word references). Registration and Odometry set angular and linear variances separately. RegistrationVis set x100 smaller variance for rotation. Added keypoints3D member to SensorData. Added Transform::getAngle() for convenience. Odometry normalizes variances. RtabmapThread does variance summation when frames are discarded. Updated how variance is computed by util3d::estimateMotion3Dto2D(), ignoring very large variance from the computation (stereo issue with very far matched features). MainWindow: added option to align with ground truth or not (default true as before), added for odometry statistics (including bundle stuff), update ground truth statistics every time a graph is loaded/optimized. CameraRGB can now load odometry files (to fake an input odometry). PreferencesDialog: Added option to Odometry so it can use a different registration approach than the default one (the one used for loop closure). Parameters: added new g2o/Solver option 3 (Eigen), added g2o/RobustKernelDelta, g2o/Baseline and Odom/VisKeyFrameThr. Database: from 0.11.13, ignoring patch version when comparing is database version is newer than app version used.
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2017-01-03 21:05:00 -05:00 |
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matlabbe
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d2287ab9f4
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Backward compatibility (DBViewer, DBReader) with old database format not saving CameraModel's image size, cx and cy
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2016-12-02 13:43:44 -05:00 |
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matlabbe
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f2dbfa9b33
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StereoCameraModel: baseline computed with Tx of left camera too. Fixed QMultiComboBox not showing on windows. Avoid updating grid view if there are no local grids in signatrues. Clear cached data of StatsItem when detecting smaller timestamp than last ones.
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2016-12-01 21:46:09 -05:00 |
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matlabbe
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2f6d7f81cc
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Fixed accumulated words bug in highest hypothesis view
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2016-11-27 20:55:53 -05:00 |
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matlabbe
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3363772ce5
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CloudViewer: added backface culling option on right-click menu. MainWindow: removed error msg on wrong decimation (util3d already handle this case)
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2016-11-27 20:10:05 -05:00 |
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matlabbe
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121446d648
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Removed parameter "OdomF2M/FixedMapPath". GUI: added odometry disabled option. Rtabmap can now localize even if odometry input is null (only in localization mode).
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2016-11-27 14:30:11 -05:00 |
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matlabbe
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693f623e5e
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Fixed GUI crash when using rectified RGB only (with odometry). Fixed empty local map when loading a fixed local map for OdometryF2M.
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2016-11-25 19:52:34 -05:00 |
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matlabbe
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0802f9158c
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MainWindow: backward compatibility: load default parameters for those not saved in a db
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2016-11-18 16:59:14 -05:00 |
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matlabbe
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ed83d90603
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RTAB-Map.exe can be started with parameters as arguments (in similar way than rtabmap-console)
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2016-11-16 17:39:17 -05:00 |
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matlabbe
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acf55e0c9b
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DatabaseViewer: fixed just 50 last values shown on statistics view
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2016-11-15 09:52:24 -05:00 |
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matlabbe
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9276607920
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Added Bundle Adjustment options to OdometryF2M (OdomF2M/BundleAdjustment) and RegistrationVis (Vis/BundleAdjustment). Added logger thread filter. RegistrationVis: Copy back corresponding input word IDs to output words when available. Memory::computeTransform() added option to use already computed corespondences if possible (proximity detection by time uses this). Updated Optimizer::optimizeBA() interface.
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2016-11-14 19:54:31 -05:00 |
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matlabbe
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edcd92fbb7
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DBViewer: merged Refine (visual) and Refine (ICP) in the same Refine action (registration used is defined by Reg/Strategy value). Updated how detect more loop closures work in MainWindow and DBViewer (using current registration parameters, visual and/or icp)
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2016-11-09 16:44:08 -05:00 |
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matlabbe
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a7971373a6
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Added bilateral filtering option. CloudViewer: lighting and edge visibility options.
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2016-11-03 17:04:31 -04:00 |
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matlabbe
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063e019653
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Export Images: fixed images still saved when cancelling the dialog
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2016-10-25 14:54:02 -04:00 |
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