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
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
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
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
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
821c1c938e
DataRecorder: Can record odometry data if odometry is published by the camera (zed or realsense)
2017-11-21 14:14:37 -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
7dabfdc207
Added CameraK4W2 (Kinect for Windows SDK v2 driver)
2017-11-06 00:19:12 -05:00
matlabbe
426a2f983c
fixed mapId for pose -1 not found error when filtering nodes to be shown
2017-10-29 13:23:38 -04:00
matlabbe
7a2ddd3905
fixed statsProcessed() not emitted at the right place
2017-10-25 09:56:05 +02:00
matlabbe
d5200f859d
MainWindow: added signals after statistics/cameraInfo/odometry and 3D map event have been processed
2017-10-25 09:48:00 +02:00
matlabbe
b6f41eecfd
MainWindow: Fixed recovery msg error
2017-10-24 11:34:39 +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
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
a70996f079
util3d: Fixed color not copied on laser scan conversion
2017-09-18 17:00:15 -04:00
matlabbe
2aa56c8d49
MainWindow: Fixed seg fault on scan rgb without normals
2017-09-18 15:52:39 -04:00
matlabbe
16c428e360
GUI: update logger filter ids after starting the camera. Update default value of parameters "Odom/ScanKeyFrameThr=0.9" and "Icp/PointToPlaneMinComplexity=0.02"
2017-09-11 14:44:39 -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
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
52a4e8964f
0.13.3: scan2d with normals support/registration
2017-08-28 16:40:07 -04:00
matlabbe
bc2c998b7c
MainWindow: Enabled Help action menu
2017-08-22 16:47:48 -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
0a1694dd78
MainWindow: Detect more loop closures: uncompress images when reextract features on loop closure is enabled
2017-07-24 12:18:19 -04:00
matlabbe
fa2199c3ea
Merged master to devel
2017-06-10 10:34:52 -04:00
matlabbe
c4ca6a0bac
Integrated ORB_SLAM2 as an odometry approach Odom/Strategy=5.
2017-06-05 19:04:23 -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
87a5f69335
MainWindow: fixed localization pose reset to latest pose in map when lost (localization mode)
2017-05-23 12:00:33 -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
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
98184c31de
Export clouds/poses: frame reference can be selected when clouds are not assembled
2017-05-10 15:53:02 -04:00
matlabbe
14baca125d
cloudFromDisparity(): adjusting decimation if not valid with current image size. Standalone: ask user to set other parameters to default if some were set on command line.
2017-04-28 11:43:27 -04:00
matlabbe
f023adff4b
Export: supporting texturing with multi-camera
2017-04-26 18:39:57 -04:00
matlabbe
13425e1ad4
3D Rendering: Added floor/ceiling filtering and normal estimation for scans
2017-04-24 19:12:53 -04:00
matlabbe
4e3216a75d
SourceRGB: added rectify option for all types (including usb camera)
2017-04-24 14:11:38 -04:00
matlabbe
1b71a96a3d
Added rtabmap-kitti_dataset tool
2017-04-24 12:17:18 -04:00
matlabbe
c068c3c33a
MainWindow: added ZR300 menu
2017-04-19 15:24:42 -04:00
matlabbe
5814724600
Fixed cloud -1 not found on export, fixed cloud visibility doing nothing to cloud -1
2017-04-18 23:08:28 -04:00
