matlabbe
0c8194373f
DbViewer: added "Edit optimized map" and "Regenerate Optimized Map" actions
2019-03-16 15:27:49 -04:00
matlabbe
d85c1c3bcf
DbViewer: EditDepth colormap now matches the one in main window
2019-03-05 10:48:05 -05:00
matlabbe
884d1d7684
DbViewer: added colormap menu option to EditDepthArea, update3dView() updates only last select id to avoid switching to second image after editing the depth of the first one.
2019-03-05 10:07:20 -05:00
matlabbe
c272f9538a
Rtabmap/StartNewMapOnGoodSignature: start mapping if landmark is also detected. Rtabmap::detectMoreLoopClosures(): Fixed crash when landmarks are in optimized poses.
2019-02-28 20:33:16 -05:00
matlabbe
ebf74e3c98
DbViewer: removed debugging warnings
2019-02-25 09:48:18 -05:00
matlabbe
e1290524af
DbViewer: fixed proximity scans not shown
2019-02-23 19:16:12 -05:00
matlabbe
dd5e09be37
DbViewer: fixed fatal error when adding new constraints on nodes not in the graph (now we can only add new constraints with nodes in the graph)
2019-02-15 17:43:18 -05:00
matlabbe
1752b55678
Fixed bug with proximity detection (with combined scans) giving wrong transform sometimes if RGBD/ProximityPathFilteringRadius was used (default true). Fixed util3d::computeNormalsComplexity() when scan has intensity.
2019-02-07 11:19:55 -05:00
matlabbe
73004c643c
DbViewer: In graph view, nodes in latest working memory state are highlighted in red
2018-12-13 13:24:57 -05:00
matlabbe
200ec8e5db
0.18.3: added landmarks (graph optimization, localization, navigation)
2018-12-07 18:29:41 -05:00
matlabbe
015c442f1c
DetectMoreLoopClosures: update optimized poses and clear occupancy grid saved in database
2018-11-09 20:36:58 -05:00
matlabbe
c5057eb6b3
exportGraph: added RGBD-SLAM format (10) without motion capture coordinate transformation ( #332 )
2018-11-08 12:26:37 -05:00
matlabbe
09a63bbc5b
Rtabmap::detectorMoreLoopClosures() added intraSession and interSession parameters
2018-11-05 18:40:08 -05:00
matlabbe
8e99291e13
0.18: Camera calibration and LaserScan Info refactoring ( #324 )
...
* Saving full camera calibration in database, added angle min/max/inc to LaserScan.
* Updated laserscan info save/load in db
* Database: added Tag table, added env_sensors field to Node
* fixed serialization/deserialization of stereo camera model
* fixed multi-calibration db saving
* fixed rebase errors
* Tango: Added saving environmental sensors option
* Memory: Save env sensors
* Tango: fixed env sensor ids
* DBViewer: show env sensors values
* DBViewer: added calibration details on tooltip
* increased package version to 0.18.0
* Fixed LaserScan copies when angleIncrement is valid
* fixed build error without OctoMap dependency
2018-10-23 14:35:14 -04:00
matlabbe
3bc8fc4c11
Integrated GPS into likelihood computation
2018-10-22 12:31:07 -04:00
matlabbe
4c7b565391
Refactored Optimizer::getConnectedGraph() to estimate poses based on links, we can then remove Optimizer::optimizeMultiSession(). Rtabmap: if poses and guess are not the same before optimization, do Optimizer::getConnectedGraph() to get pose estimates based on links instead of odom (to make optimization more robust to memory management and multi-session).
2018-10-16 18:55:36 -04:00
matlabbe
f1546c1fca
Replaced all optimizeIncremental() by optimizeMultiSession() to fix GTSAM errors when merging multiple maps together. DBReader: always publish saved stamp. DBViewer: added actions to set covariance of all neighbor or loop closure links.
2018-10-15 17:07:18 -04:00
matlabbe
b2c012d8bc
Updated g2o and toro saveGraph() to use Optimizer's parameters ( #320 , #319 )
2018-10-15 13:41:44 -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
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
124543c57d
Fixed compilation errors with OpenCV 4.0.0 ( #309 )
2018-09-18 22:43:18 -04:00
matlabbe
3ce6de573d
ImageView: added depth colormap menu option
2018-08-17 15:28:23 -04:00
matlabbe
67aa4cd28e
DbViewer: added decimation parameter for cloud visualization. ImageView: adding scaling to height menu option.
2018-08-17 14:01:11 -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
5e60a2596c
DbViewer: show full covariance in Constraints View
2018-08-09 15:20:19 -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
a39d0840ce
fixed #279
2018-04-30 11:16:26 -04:00
matlabbe
637514d00d
DbViewer: fixed odom pose not added to odomPoses_ when a location doesn't have any links
2018-04-27 19:07:43 -04:00
matlabbe
b044bae304
DbViewer: added menu actions to view/update/export optimized mesh saved in database. CloudViewer: cubes can be added for convenience, fixed double-click not always working. util3d: added conversion function from LaserScan to PointCloud2, added conversion functions between polygons format saved in database and PCL polygons format with vertices.
2018-04-25 12:34:47 -04:00
matlabbe
592b7c66c5
0.17.0: saving optimized poses and last localization pose to database ( https://github.com/introlab/rtabmap_ros/issues/220 ). Parameters: fixed Icp default parameters when not built with libpointmatcher, added RGBD/SavedLocalizationIgnored (default false). DbViewer: added Export/Import 2D map ( https://github.com/introlab/rtabmap_ros/issues/213 ).
2018-04-04 19:14:13 -04:00
matlabbe
ba011169b8
DbViewer: don't modify ground truth values (previously they were aligned with root)
2018-03-12 20:57:34 -04:00
matlabbe
ffe50dad22
When exporting poses, set txt extension by default if not set
2018-03-12 20:26:34 -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
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
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
489ab86ac7
dbviewer: fixed variance*100 for proximity by space links (multi-scan).
2018-02-21 10:08:48 -05:00
matlabbe
e8f7746c87
dbviewer: removed voxel filtering from scan display
2018-02-21 08:38:35 -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
5c04ce257b
DbViewer: can launch with a directory argument to set current workspace for convenience.
2018-02-19 16:37:17 -05:00
matlabbe
37cbf79b4c
DbViewer: fixed occupancy grid color options. Reprocess: added grid total time including rtabmap stats
2018-02-18 21:32:19 -05:00
matlabbe
00559ce8d6
ground segmentaiton: adjusted cluster inlier with centroid below max height of biggest cluster
2018-02-18 15:30:20 -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
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
3dfe1ccb1a
DbViewer: updated warning msg when graph optimization fails.
2018-02-13 14:14:08 -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