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35045aa9d751d97937cca5fda0a273fb391aa72f
Commit Graph

1046 Commits

Author SHA1 Message Date
matlabbe
35045aa9d7 CameraRGB: updated error msg when depth format is wrong 2017-12-15 11:14:02 -05:00
matlabbe
398ca1f8e4 0.15.3: util3d::computeVarianceAndCorrespondences(): added max angle parameters for normal type. util3d::downsample(): added Normal types support. OccupancyGrid: fixed 2d scan with 5 channels not handled correctly on update. 2017-12-13 18:12:40 -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
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
ff135322f6 Odom/AlignWithGround: fixed random crash when input is stereo and voxel filter is complaining about leaf size too small (limited max depth to 10 meters) 2017-12-06 15:40:41 -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
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
274e7c579e Added some warnings 2017-11-14 16:28:47 -05:00
matlabbe
b820e98bdc Stereo: min and max disparity parameters are now float. ImageView: adjusted background color of info boxes. 2017-11-14 11:36:37 -05:00
matlabbe
9a9d81ca18 fixed build error with g2o: no member named 'linear' in 'g2o::SE2' 2017-11-09 12:22:32 -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
8cdd138143 CameraK4W2: added depth to color registration. For CameraFreenect2, kTypeColor2DepthSD is now used by default. 2017-11-06 22:59:12 -05:00
matlabbe
7dabfdc207 Added CameraK4W2 (Kinect for Windows SDK v2 driver) 2017-11-06 00:19:12 -05:00
matlabbe
461dba87db fixed build without openni2 2017-10-25 17:58:08 +02:00
matlabbe
d4982a8f24 CameraOpenni2: added ir/depth shift parameter 2017-10-25 15:11:26 +02:00
matlabbe
6cee1d9ee6 RtabmapThread: UserData events are added to next node created instead of the last node created (same as rtabmap_ros UserData service) 2017-10-24 19:53:40 +02:00
matlabbe
303f315b3e fixed assert when Odom/AlignWithGround is true and generated cloud is empty 2017-10-24 11:40:58 +02:00
matlabbe
e595f564b1 Parameters: removed Mem/LaserScanVoxelSize from getRemovedParameters() 2017-10-12 17:03:09 -04:00
matlabbe
bfbabc62c4 Tango: Localization mode can be used in visualization 2017-10-12 15:54:16 -04:00
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
312f6515ff CameraFreenect2: fixed compilation error when not built with libfreenect2 2017-10-11 13:05:14 -04:00
matlabbe
f6315e48d0 CameraFreenect2: added pipelineName parameter 2017-10-11 12:50:57 -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
007d23308a Tango: updated how memory used and database size are computed 2017-10-09 18:04:54 -04:00
matlabbe
4de2ed767b FlannIndex: Fixed size_t matrix allocation error on 64 bits system 2017-10-09 10:51:18 -04:00
matlabbe
49f9a1e8d7 Tango: fixed database saved in memory option when disabled (now disabled by default) 2017-10-08 21:55:27 -04:00
nayabrasul
d927f1886c Update Rtabmap.h 
Proper closing of name space with in the #RTABMAP_H_. Multiple includes of "Rtabmap.h" with in the application causing the compilation problem.
 2017-10-06 16:57:30 +02:00
matlabbe
9abd925ab7 Reset bayes filter when new map is triggered 2017-09-29 13:28:17 -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
Oubayda
74ee322312 Update CameraThread.cpp 
When Mirroring option is checked, a depth calibration cannot be done because of the new mirrored CameraModel named tmpModel have its imageSize set to cv::Size(0, 0) so the method named isValidForReprojection() (which used in CalibrationDialog.cpp to check that the camera model is valid to do the calibration method) always returns false
 2017-09-25 21:50:09 +03:00
matlabbe
bfc393a090 0.14: added gps field to Node table in database (#226). Tango: saving gps if enabled, added Rename/Remove/Share on long click in Open dialog (fixed #233) 2017-09-21 20:59:45 -04:00
matlabbe
b737df9c40 Merge branch 'devel' of https://github.com/introlab/rtabmap 2017-09-19 14:40:19 -04:00
matlabbe
fd18c0b2e9 Added Mem/LaserScanVoxelSize and OdomF2M/ScanSubtractAngle parameters. util3d::computeNormalsComplexity() now returns PCA's eigen vectors and values optionally. RegistrationIcp: detecting complexity of environment when PointToPLane is used, if too low, PointToPoint is done and movements are limited to main direction of the normals. 2017-09-19 14:15:17 -04:00
matlabbe
cf6478b633 util3d::transformLaserScan(): supporting 7 channels 2017-09-18 21:49:57 -04:00
matlabbe
a70996f079 util3d: Fixed color not copied on laser scan conversion 2017-09-18 17:00:15 -04:00
matlabbe
b2fb7d5d5b Supporting g2o from ORB_SLAM2 2017-09-17 13:28:25 -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
77bdff1e4b removed a debug log 2017-09-11 14:03:57 -04:00
matlabbe
1ae15911fc Fixed compilation warning of not used variables when some odom approaches are not supported 2017-09-11 14:00:08 -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
39283a5526 RegistrationIcp: libpointmatcher setting PointToPLane force2D parameter 2017-09-01 18:12:19 -04:00
matlabbe
4f55b56d6b Odometry: 2D scans + normals support 2017-08-31 18:01:46 -04:00
mlong-xii
54c0b3e196 KAZE - fix loading custom feature params 
KAZE feature detector does not load custom feature params (min/max depth, ROI, etc).
 2017-08-31 16:41:01 -04:00
matlabbe
7ec58c63e9 SensorData/Memory: fixed assert for scan channels 5 an 7 2017-08-28 17:37:57 -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
317aa3b6ed Parameters: added Icp/PMOutlierRatio for convenience 2017-08-23 12:22:58 -04:00