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
00412749e7
IMU: changed members from Eigen to cv to avoid seg faults about Eigen memory alignment when copying IMU object created dynamically ( #270 )
2018-03-21 21:31:41 -04:00
matlabbe
8d93c275ab
Tango: fixed optimized mesh where nans were removed before saving (causing trouble with corresponding polygons)
2018-03-21 16:00:12 -04:00
matlabbe
548f0b6130
Fixed Android build
2018-03-18 16:00:03 -04:00
matlabbe
f7e007018f
fixed Windows build
2018-03-18 19:43:20 -04:00
matlabbe
436e82653c
Parameters: updated default of Icp/CorrespondenceRatio and Icp/PMOutlierRatio. Fixed OptimizerG2O build with ORB_SLAM2. Fixed seg fault after restarting ORB_SLAM2 odometry.
2018-03-17 18:20:32 -04:00
matlabbe
ecf598e412
util3d::laserScanFromPointCloud(...): ignore NaN points and normals. RegistrationIcp: ignoring NaNs on conversion to PD format to fix some registration fails caused by NaNs.
2018-03-13 02:27:59 -04:00
matlabbe
257fe20c4f
OdometryF2F: fixed published localScanMap in wrong frame
2018-03-13 00:01:32 -04:00
matlabbe
dc289ba635
DbViewer: when align with ground truth is enabled, exported poses are those aligned with ground truth
2018-03-12 18:51:55 -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
2fad881202
fixed a compilation warning
2018-02-23 17:55:31 -05:00
matlabbe
39b363d0b5
Memory: compute scan max range if not set on signature creation.
2018-02-23 15:52:59 -05:00
matlabbe
e1a0fc42ea
Rtabmap: added ebug info when proximity scan matching is disabled
2018-02-23 10:47:07 -05:00
matlabbe
69d28db660
DbViewer: optimized fetching wm states from db, added checkbox along graph iteration slider to generate intermediate graphes.
2018-02-23 10:12:36 -05:00
matlabbe
297cf3f51e
0.16.2: Added wm_state field to database's Statistics table. New parameter "Rtabmap/SaveWMState" (default false). DbViewer: added option in GraphView to show only poses of the root id that were in WM at that time
2018-02-21 18:19:20 -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
6cdb2a48fd
OctoMap: improved projection performance
2018-02-19 16:25:55 -05:00
matlabbe
07244a8a73
Fixed occupancy grid created from PointNormal with RGB
2018-02-18 15:10:25 -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
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
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
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
