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
42199eefd2
Added --poses option to report tool. Reprocess tool: Export ground/obstacles when 3d map is created.
2018-02-06 11:31:39 -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
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
1df95702a3
DbViewer: Fixed octomap visualization when ground is not segmented
2017-11-21 13:24:21 -05:00
matlabbe
71d9816f4b
0.15: statistics are now compressed in database. Eigen issue: using linear() instead of rotation() to get rotation from affine3f. Increased loading speed of statistics in DatabaseViewer. Added graph:calcRMSE().
2017-11-09 12:03:01 -05:00
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
400952b327
ProximitySpace: extracting all paths inside local radius up to max graph depth, no length limit of the proximity space links. Fixed local scan matching assembling bug when laser local transform is set. DbViewer: we can now refine proximity detection by space (laser scan matching).
2017-10-09 18:45:42 -04:00
matlabbe
0b8ff7cc01
DbViewer: sorting loop closures by parent ids. When checking ignore pose correction, graph is optimized without them.
2017-10-05 17:10:15 -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
a70996f079
util3d: Fixed color not copied on laser scan conversion
2017-09-18 17:00:15 -04:00
matlabbe
16ffcc7684
DatabaseViewer: just show single axis on constraint viewer if built with PCL < 1.7.2
2017-09-11 20:59:36 -04:00
matlabbe
4f55b56d6b
Odometry: 2D scans + normals support
2017-08-31 18:01:46 -04:00
matlabbe
b70ffb6331
fixed multi scans matching with normals, removed some debug logs
2017-08-28 16:40:08 -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
d8a6ed4ba6
DbViewer: fixed voxelize assert when voxel size is set and there are no laser scans in database
2017-08-04 10:47:25 -04:00
matlabbe
edc690973a
DbViewer: added warning when reextract feature is false and signatures have no features
2017-07-24 11:48:49 -04:00
matlabbe
48148a9e26
DbViewer: fixed voxel assert
2017-07-23 22:33:26 -04:00
matlabbe
19abbe0dbd
DBViewer: fixing previous commit for very large databases (where we don't want to regenerate map if we don't show it)
2017-07-12 21:39:51 -04:00
matlabbe
c833af1ae6
DBViewer: fixed disabled show/hide map option while map is available
2017-07-12 21:26:14 -04:00
matlabbe
ff6e42fa6d
DbViewer: added more info about size of all tables in database
2017-06-06 18:22:19 -04:00
matlabbe
e8af8f7792
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.
2017-05-22 21:05:34 -04:00
matlabbe
385b7e3389
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.
2017-05-22 11:48:01 -04:00
matlabbe
58e6424bf7
Export Clouds: export scans integrated in the same dialog (remove export scans dialog)
2017-05-11 15:02:18 -04:00
matlabbe
d2255adc4e
fixed unknown character
2017-05-11 15:02:18 -04:00
matlabbe
7f8ca64f64
DbViewer: added frame selection when exporting poses. DBDriver: added getLaserScanInfo().
2017-05-11 15:02:18 -04:00
matlabbe
104c1e6945
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 "/".
2017-05-11 15:02:18 -04:00
matlabbe
62fdb8d0af
DbViewer: fixed not reextracted features when reextract features is on
2017-05-10 18:00:30 -04:00
matlabbe
1ea94c0356
DbViewer: refining cancelable, statistics labels selectable and x-axis can be time or IDs
2017-04-27 16:13:27 -04:00
matlabbe
f023adff4b
Export: supporting texturing with multi-camera
2017-04-26 18:39:57 -04:00
matlabbe
461d167547
DbViewer: update loop closure slider after detecting more loop closures
2017-04-25 16:50:57 -04:00
matlabbe
27313bc3d6
DBViewer: added "Restore default GUI settings" menu action
2017-04-24 16:20:41 -04:00
matlabbe
51c353e504
DatabaseViewer: Added ground truth statistics
2017-04-24 13:04:31 -04:00
matlabbe
2509a842f0
DBViewer: fixed Export dialog parameters not loaded correctly
2017-04-08 16:46:06 -04:00
matlabbe
b7dbf27931
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).
2017-04-07 18:31:11 -04:00
matlabbe
1d8952867d
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
2017-04-06 12:27:12 -04:00
matlabbe
f33b838204
DBViewer: updated more loop closures dialog default size
2017-03-31 18:56:52 -04:00
matlabbe
767b29d5a3
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
2017-03-31 18:56:52 -04:00
matlabbe
2574f3a8ee
DatabaseViewer: Added ExportCloudsDialog, added Occupancy Grid View
2017-03-31 18:56:52 -04:00
matlabbe
867e8727c1
GraphViewer: Fixed scale of saved PNG/SVG
2017-03-05 11:55:22 -05:00
matlabbe
9a2c9f607f
DBViewer: compute normals when showing clouds
2017-02-06 17:05:53 -05:00
matlabbe
e3b3a08f5f
DbViewer: fixed features not added in right image when adding loop closure
2017-01-28 15:49:29 -05:00
matlabbe
7fa559247d
DbViewer: disable "Add" button if one of the current images selected is not in the graph
2017-01-05 21:10:26 -05:00
matlabbe
f20cb6ff52
Preferences: fixed map opacity limited to 0.75 min. Making sure that normalized variances are set to epsilon if result is 0.
2017-01-05 18:08:20 -05:00
matlabbe
4b12fb3a9a
Normalize variance in refined/added loop closure (DbViewer)
2017-01-05 17:23:55 -05:00
matlabbe