matlabbe
257fe20c4f
OdometryF2F: fixed published localScanMap in wrong frame
2018-03-13 00:01:32 -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
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
93e1d732c9
DbViewer: added option to align scans/clouds to ground truth for convenience
2018-02-21 15:13:02 -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
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
09cae9cbd3
DbViewer: added color selectors for obstacle, ground and empty cells.
2018-02-12 11:32:17 -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
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.
...
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
7091406abc
Merge branch 'master' of https://github.com/introlab/rtabmap into devel
2017-12-13 18:07:54 -05:00
matlabbe
c21d478f5d
ExportCloudsDialog: added more decimals to camera filtering options
2017-12-12 11:16:12 -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
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
1df95702a3
DbViewer: Fixed octomap visualization when ground is not segmented
2017-11-21 13:24:21 -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
10c5cb3721
GUI: Added missing Rtabmap/ComputeRMSE parameter
2017-11-10 16:03:25 -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
d4982a8f24
CameraOpenni2: added ir/depth shift parameter
2017-10-25 15:11:26 +02:00
matlabbe
e40a7d6681
0.14.3: exposed all gui widgets to public API. CloudViewer: fixed camera orientation reset
2017-10-20 12:09:34 +02:00
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
c02cc6d193
Updated About dialog
2017-10-11 13:40:31 -04:00
matlabbe
f6315e48d0
CameraFreenect2: added pipelineName parameter
2017-10-11 12:50:57 -04:00
matlabbe
1220eab47a
Added RGBD/LinearSpeedUpdate and RGBD/AngularSpeedUpdate parameters
2017-09-28 13:34:55 -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
ef4aff7d34
fixed gps fields missing in non-android build
2017-09-21 21:28:39 -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
aca005c287
Added parameter "IcpPointToPlaneMaxComplexity". Added util3d::computeNormalsComplexity(). OdomInfo has now RegistrationInfo field to avoid duplicating members.
2017-09-11 13:17:53 -04:00
matlabbe
380fc2cbde
PreferencesDialog: Fixed odom stack widget index always set to ORB-SLAM2 on loading
2017-09-06 11:01:39 -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
317aa3b6ed
Parameters: added Icp/PMOutlierRatio for convenience
2017-08-23 12:22:58 -04:00
matlabbe
bc2c998b7c
MainWindow: Enabled Help action menu
2017-08-22 16:47:48 -04:00
matlabbe
f7872d346b
libpointmatcher integration
2017-08-22 16:20:49 -04:00
matlabbe
b5b96a3edb
Fixed ProximityByTime wrong guess transform. Fixed Icp correspondence ratio computation when using voxel filter. OdometryResetEvent: added pose to constructor.
2017-08-15 15:26:03 -04:00
matlabbe
1e335e53ba
OdometryEvent: fixed velocity() returning always empty. Export: added options to filter blurred cameras based on laplacian threshold or velocity ( #225 ).
2017-08-07 16:31:49 -04:00
matlabbe
f3e491f15b
Added KAZE feature detector (OpenCV3)
2017-07-25 16:20:05 -04:00
matlabbe
f9ed36ed54
Parameters: renamed Rtabmap/VhStrategy to VhEp/Enabled
2017-07-05 13:38:27 -04:00
matlabbe
7a0a82bcb4
Texturing: using depth image to filter wrongly projected textures
2017-06-06 11:42:42 -04:00
matlabbe
c4ca6a0bac
Integrated ORB_SLAM2 as an odometry approach Odom/Strategy=5.
2017-06-05 19:04:23 -04:00
matlabbe
de797b644e
Export: added rgb/gray gain compensation option, added maximum outout textures option (can be useful for #189 ).
2017-06-03 18:24:56 -04:00
matlabbe
4f26e34717
Integrated DVO odometry approach
2017-05-31 20:57:24 -04:00
matlabbe
21e716b08a
Updated default Vis/EstimationType=1 (PnP). Added all fovis and viso2 parameters.
2017-05-30 18:29:49 -04:00
matlabbe
f6e21bd6c8
Integration of viso2 odometry approach.
2017-05-30 14:03:46 -04:00
matlabbe
4ffbc0fb58
Integrated Fovis (Odom/Strategy=2)
2017-05-30 09:27:31 -04:00
matlabbe
6d6c5e2e17
Updated Create Calibration dialog
2017-05-26 11:46:02 -04:00
