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3,346 Commits 29 Branches 163 Tags
28fd696c184a187fc91680754a8ea29009f94e92
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361 Commits

Author SHA1 Message Date
matlabbe
e887d462ce Memory: Added parameter Mem/UseOdomGravity, adding kGravity links when creating a node if IMU is present or Mem/UseOdomGravity is set. Fixed OpenCV4 related build errors on stereo fisheye rectification code. Signature: changed links from map to multimap to support having multiple self references (prior, gravity constraints...). DBReader: publish IMU orientation if a gravity link is detected. 2019-05-31 15:36:35 -04:00
matlabbe
f8a8e55e7e UI: Update preferences with the new imu filter parameters. Camera: added imu filtering option. Updated support for zedm, D435i and T265. 2019-05-13 18:42:46 -04:00
matlabbe
e6f471d88e Added imu to odom bundle adjustment. Added IMUFilter classes. Changed Aruco parameter prefix to Marker. Zed: publishing IMU data. 2019-05-07 18:57:53 -04:00
matlabbe
630b565cd4 reprocess: added double dash support for arguments for convenience. Rtabmap: fixed typo in localization verification by odom graph optimization. 2019-04-29 17:11:29 -04:00
matlabbe
125d532e95 Added graph::calcRelativeErrors() and option --relative for report. Added skip frames option on rgbd_dataset tool. 2019-04-27 20:39:40 -04:00
matlabbe
a0f74eaee2 Added new 2d feature ORB OcTree (approach used in ORB_SLAM2). report tool: fixed assert caused by bidirectional links. detectModeLoopClosures tool: check if input path exists. 2019-04-18 19:50:58 -04:00
matlabbe
38cdc76790 reprocess: added more localization info 2019-04-17 14:57:15 -04:00
matlabbe
fc9c762516 Added Optimizer/GravitySigma parameter (with GTSAM support). 2019-03-31 15:51:50 -04:00
matlabbe
09ced82c9f Rtabmap::triggerNewMap() now does nothing in localization mode to make sure optimized map doesn't get regenerated 2019-03-27 20:48:00 -04:00
matlabbe
81313c32ee detectMoreLoopClosures tool: Fixed windows build 2019-03-27 16:12:49 -04:00
matlabbe
8c92ed25e5 Rtabmap::detectMoreLoopClosures(): publish more progression messages for every loop closure found. rtabmap-detectMoreLoopClosures: we can do ctrl-c to interrupt the processing safely. 2019-03-27 15:39:46 -04:00
matlabbe
3cafdf911b Docker: added new "latest" version of jfr2018 image (including VINS and latest rtabmap version). Updated jfr2018 scripts to easily switch to host installed rtabmap instead of docker 2019-03-20 19:36:56 -04:00
matlabbe
8edd85a9df Tools: don't build rgbdcamera tool if rtabmap_gui is not built 2019-03-13 11:32:42 -04:00
matlabbe
9da2c1918f CameraImages: moved scan filtering stuff to CameraThread 
Preferences->Source: refactored scan filtering parameters
OdometryF2M and OdometryF2F: moved odom orientation init from IMU to OdometryROS instead
 2019-01-15 15:41:07 -05:00
matlabbe
9efd7c14fc Updated stereo block matching approach (when Stereo/OpticalFlow=false) 2018-11-13 14:25:21 -05:00
matlabbe
8333677dc6 Improved/optimized Rtabmap timing performance for large datasets 2018-11-09 17:28:55 -05:00
matlabbe
0c4a91df8a New tool: rtabmap-detectMoreLoopClosures 2018-11-06 17:19:16 -05:00
matlabbe
69f3116158 Updated reprocess 2018-10-30 10:40:35 -04:00
matlabbe
e57b722ce2 Reprocess: if Mem/IncrementalMemory is false and more than one input file is provided, init rtabmap with the first and do localization with the others. 2018-10-29 17:00:42 -04:00
matlabbe
12a7349165 Removed Optimizer:computeBACorrespondences() duplicated 3d points (more than 2 frames can reference a 3D point), added option to rematch features. Bundler: added more options to export dialog, fixed inverted colors. 2018-10-25 16:31:13 -04:00
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
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
7fdd212462 rtabmap-reprocess supports multiple input databases. Arguments "--params map.db" output parameters of the database in INI format 2018-10-12 15:53:44 -04:00
matlabbe
0059a4bc1b Camera refactoring (#315) 
* Camera Refactoring part 1 (Mac OS X)

* fixed camera*** -> Camera***

* Fixed build for cameras Zed/RealSense/RealSense2

* increased version to 0.17.7

* fixed build for cameras K4W2 and FlyCapture2
 2018-10-01 19:33:56 -04:00
matlabbe
f903ffb927 Fixed regression errors for OpencV2 (#309) 2018-09-18 23:03:40 -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
f281db8dd0 Windows: removed yaml_cpp required if pkgconfig is installed 2018-08-07 20:34:46 -04:00
matlabbe
ddacee6d8b rtabmap-report: ignoring --scale option if no ground truth is found 2018-07-24 14:38:14 -04:00
matlabbe
e95cabb1fc fixed optimization error ratio bug where comparison was done using not highest ratio link but on highest abs error link instead. 2018-07-20 15:11:46 -04:00
matlabbe
9ae47b79f9 Working MSCKF 2018-07-18 16:15:41 -04:00
matlabbe
89a0eb506b Fixed yaml-cpp not found on Ubuntu 14.04 2018-07-12 11:50:46 -04:00
matlabbe
d447329bf1 Added LOAM (loam_velodyne) odometry support 2018-06-28 11:10:46 -04:00
matlabbe
502d5e75e8 CameraRealSense2: added IR-Depth mode option 2018-06-15 14:35:54 -04:00
matlabbe
2060e0b1da Added CameraRealsSense2 driver (tested only with D435) 2018-06-15 12:24:00 -04:00
matlabbe
b6b0b9a984 Refactored and integrated pull request https://github.com/introlab/rtabmap/pull/285 2018-05-29 13:59:43 -04:00
matlabbe
fa174be741 Updated rtabmap-kitti tool 2018-05-10 13:14:07 -04:00
matlabbe
344dc165bc fixed #276 and #277 2018-04-14 13:41:04 -04:00
matlabbe
7143f693d2 Euroc tool: fixed build error when c++11 is not used #272 2018-03-26 11:13:06 -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
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
c3ab04b436 Report: removed a test UERROR 2018-02-22 16:37:55 -05:00
matlabbe
918281a804 Rgbd_dataset: fixed Rtabmap/CreateIntermediateNodes not used 2018-02-22 12:09:03 -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
37cbf79b4c DbViewer: fixed occupancy grid color options. Reprocess: added grid total time including rtabmap stats 2018-02-18 21:32:19 -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
02a64a7fa3 Added ctrl-c handling to reprocess and recovery tools. 2018-02-13 16:54:31 -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