matlabbe
2d7ab7bdef
Report: support Odometry/TimeEstimation/ms from ros
2019-12-11 11:33:19 -05:00
matlabbe
1d7dee8976
kitti-tool: fixed no scan bug when using velodyne odom
2019-12-10 18:39:39 -05:00
matlabbe
179f17d267
0.19.6: Added auto brightness/contrast and texture format options to multiband approach. rtabmap-export moved from examples to tools directory.
2019-11-03 14:10:02 -05:00
matlabbe
d360420204
report tool: exporting poses in RGB-D dataset format by default, also exporting odom, slam and gt poses.
2019-09-29 19:38:54 -04:00
matlabbe
3c7719f6d8
Added CameraK4A driver (only MKV playback supported yet). Fixed build with realsense2 support on Windows. Preferences: added imu filtering parameters to ini file.
2019-07-09 20:48:09 -04:00
matlabbe
4c8af6d6e9
fix build errors with opencv2, added Transform::getClosestTransform() function for convenience.
2019-05-31 16:51:37 -04:00
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
