matlabbe
35974d55bd
updated jfr2018 docker image (made it standalone, depending only on ubuntu:16.04 image)
2018-12-30 15:43:14 -05:00
matlabbe
5548f33e06
Update README.md
2018-12-29 17:17:46 -05:00
matlabbe
a909461535
Added jfr2018 docker image to reproduce kitti/euroc/tum results from the corresponding paper
2018-12-29 17:15:36 -05:00
matlabbe
6bd9dd55b7
3D view, fixed flickering frustum
2018-12-13 18:00:19 -05:00
matlabbe
6e8913091d
ImageView: fixed image not saved if extension not set (set default png)
2018-12-13 17:54:46 -05:00
matlabbe
85f0ab829a
Rtabmap: updated logic of small displacement updates (RGBD/LinearUpdate=0 means always update)
2018-12-13 13:30:50 -05:00
matlabbe
73004c643c
DbViewer: In graph view, nodes in latest working memory state are highlighted in red
2018-12-13 13:24:57 -05:00
matlabbe
ccbc802fe6
Fixed angular error check when abs angle error > PI
2018-12-10 20:20:52 -05:00
matlabbe
73378c4d56
fixed compilation warning
2018-12-09 14:16:51 -05:00
matlabbe
986db04cb9
Rtabmap::computePath() make sure the closest pose of the current location is a node, not a landmark
2018-12-07 20:43:46 -05:00
matlabbe
de32e53868
OctoMap: fixed not dense empty cells
2018-12-07 19:50:15 -05:00
matlabbe
200ec8e5db
0.18.3: added landmarks (graph optimization, localization, navigation)
2018-12-07 18:29:41 -05:00
matlabbe
b771aa00e0
LaserScan: Updated max points computation
2018-12-04 10:17:21 -05:00
matlabbe
26b33b12af
Updated -march=native warnings with latest PCL version
2018-12-02 13:54:17 -05:00
matlabbe
f0ea8ab076
OdometryThread: fixed data buffer ignored if imu is always set
2018-12-01 00:53:36 -05:00
matlabbe
abbcc4f8a9
CameraFreenect: set accelerometer values in IMU member of SensorData. OdomF2M and OdomF2F: intialize orientation with gravity for the first frame if accelerometer value is valid in SensorData.
2018-12-01 00:25:48 -05:00
matlabbe
8a8f46c325
fixed #341
2018-11-29 18:21:12 -05:00
matlabbe
d2813ed70b
fixed vtkGUISupportQt linker errors on RPI3
2018-11-28 14:10:29 -05:00
matlabbe
0167687c6b
Link: Covariances are added on merge when output is NeighborMerged (reduced graph)
2018-11-27 09:23:16 -05:00
matlabbe
ca27dbd2fe
Fixed #339 and #289
2018-11-21 14:47:15 -05:00
matlabbe
b862d6bc48
0.18.2: Added Odom/GuessSmoothingDelay parameter
2018-11-21 11:57:04 -05:00
matlabbe
5ae2f487b4
Odom: Updated error msg when invalid stamps are received
2018-11-19 18:19:24 -05:00
matlabbe
283c1df00c
Fixed labels not correctly shown. Fixed planner not sending next goals when memory management is disabled.
2018-11-19 18:00:24 -05:00
matlabbe
bf2a9db5e4
Fixed memory usage for grid and statistics
2018-11-15 20:52:53 -05:00
matlabbe
963aea5c0d
OccupancyGrid:segmentCloud() reset indices ptr to make sure the returned pointer is valid
2018-11-15 10:08:04 -05:00
matlabbe
9efd7c14fc
Updated stereo block matching approach (when Stereo/OpticalFlow=false)
2018-11-13 14:25:21 -05:00
matlabbe
227f8c4f86
Camera: fixed freezing when changing online frame rate from non zero to zero
2018-11-10 11:43:58 -05:00
matlabbe
be498b4cb7
bump 0.18.1 version
2018-11-09 21:01:05 -05:00
matlabbe
015c442f1c
DetectMoreLoopClosures: update optimized poses and clear occupancy grid saved in database
2018-11-09 20:36:58 -05:00
matlabbe
be1532b809
Updated wifi example
2018-11-09 18:09:12 -05:00
matlabbe
8333677dc6
Improved/optimized Rtabmap timing performance for large datasets
2018-11-09 17:28:55 -05:00
matlabbe
3bb874825f
Optimizer:getConnectedGraph() don't add poses not included in the input poses
2018-11-09 17:14:09 -05:00
matlabbe
c43bd6cd3f
Fixed backward compatibility error with libpointmatcher < 1.3.0
2018-11-09 16:06:44 -05:00
matlabbe
5159171bf3
Fixed build with latest libpointmatcher version
2018-11-09 10:12:30 -05:00
matlabbe
c5057eb6b3
exportGraph: added RGBD-SLAM format (10) without motion capture coordinate transformation ( #332 )
2018-11-08 12:26:37 -05:00
matlabbe
433e20869c
fixed #333
2018-11-08 10:52:12 -05:00
matlabbe
0c4a91df8a
New tool: rtabmap-detectMoreLoopClosures
2018-11-06 17:19:16 -05:00
matlabbe
71ae076b44
BayesFilter: improved performance when prediction didn't change or only a new id is appended to prediction. Memory: fixed seg fault when using local bundle adjustment on loop closure and memory management is enabled.
2018-11-06 14:45:57 -05:00
matlabbe
1784a0877f
PostProcessingDialog: don't close dialog if validate failed
2018-11-05 18:49:50 -05:00
matlabbe
09a63bbc5b
Rtabmap::detectorMoreLoopClosures() added intraSession and interSession parameters
2018-11-05 18:40:08 -05:00
matlabbe
4f1deef971
Proximity detection by space: sort nearest paths by likelihood values
2018-11-05 14:24:04 -05:00
matlabbe
c2b1a9fbd7
Fixed long loading time of large working memory
2018-11-05 11:50:49 -05:00
matlabbe
9d62d04459
Update README.md
2018-11-02 13:29:11 -04:00
matlabbe
d02bb9af5d
Update .appveyor.yml
2018-11-02 13:28:30 -04:00
matlabbe
f670f71d47
Updated appveyor with yaml-cpp dependency
2018-11-02 12:45:57 -04:00
matlabbe
b96bc2a240
Detecting OPENCV_ENABLE_NONFREE if set on OpenCV>=3.4.3
2018-11-02 11:52:35 -04:00
matlabbe
8eda6cbdf0
Update .appveyor.yml
2018-11-01 19:26:04 -04:00
matlabbe
f05eefd80c
CMake: fixed MSVC detection for /MP
2018-11-01 18:07:52 -04:00
matlabbe
4bfa1c2752
Windows: Added /MP for parallel compilation with MSVC
2018-11-01 17:49:18 -04:00
Mathieu Labbé
961549d375
Updated CameraStereoFlyCapture2 with triclops new API
2018-11-01 17:17:38 -04:00
matlabbe
4e3e5872fc
Update .appveyor.yml
2018-11-01 11:25:11 -04:00
matlabbe
de7ceb91dd
Windows packaging: adding missing qwindowsvistastyle.dll to get windows Vista/7/10 native look
2018-11-01 10:38:09 -04:00
matlabbe
d62dcdd29a
Updated appveyor with more dependencies, updated zed find package on Windows, updated FindFlyCapture2.cmake
2018-10-31 20:56:34 -04:00
matlabbe
8087774961
Added contributor to CameraStereoTara files
2018-10-31 11:05:06 -04:00
matlabbe
fad1993a01
Preferences->Source: added Tara stack widget panel
2018-10-31 11:00:01 -04:00
matlabbe
bb4164a05d
CloudViewer: added some getters
2018-10-30 17:42:43 -04:00
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
a43eccdac8
MainWindow: clear cacheLocalizationsCount when unchecking the option
2018-10-25 19:08:00 -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
1ef61db73b
Bundler: fixed 3D points orientation, added color.
2018-10-24 20:34:53 -04:00
matlabbe
c14e20330f
Fixed SIFT octave issue causing registration to always fail. Added Bundler export points option.
2018-10-24 20:01:57 -04:00
matlabbe
299bec15ff
DBReader: publish global pose if prior link is detected, negative image rate means now a ratio of the database stamps
2018-10-24 09:26:41 +12:00
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
8701ae6de0
Update OptimizerG2O.cpp
...
#323
2018-10-24 06:18:10 +12:00
matlabbe
d2c406f019
fixed build without g2o ( #323 )
2018-10-24 06:16:40 +12:00
matlabbe
d2abc3a237
Added parameter Rtabmap/LoopGPS (default true) to enabled/disable the use of GPS in likelihood computation
2018-10-22 14:39:30 -04:00
matlabbe
3bc8fc4c11
Integrated GPS into likelihood computation
2018-10-22 12:31:07 -04:00
matlabbe
93a3a667c8
fixed build errors with OpenCV2 caused by commit https://github.com/introlab/rtabmap/commit/39e1d453697b7cdd9dd11038f6d9d998b8a8ed53 (OpenCV4)
2018-10-21 13:53:49 -04:00
matlabbe
39e1d45369
Fixed build with OpenCV4 ( #322 )
2018-10-21 13:35:03 -04:00
matlabbe
cc91208057
Tango: fixed wrong bearing value on landscape orientation
2018-10-18 18:23:52 -04:00
matlabbe
5d54c0e26c
Tango: updated copyright years
2018-10-18 17:25:57 +00:00
matlabbe
5fc9f859ce
Tango: set third person camera by default, scan media file on SD-card when saving database (fixed issue of database just saved not seen with MTP when connected by USB)
2018-10-17 14:05:22 -04:00
matlabbe
4c7b565391
Refactored Optimizer::getConnectedGraph() to estimate poses based on links, we can then remove Optimizer::optimizeMultiSession(). Rtabmap: if poses and guess are not the same before optimization, do Optimizer::getConnectedGraph() to get pose estimates based on links instead of odom (to make optimization more robust to memory management and multi-session).
2018-10-16 18:55:36 -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
b2c012d8bc
Updated g2o and toro saveGraph() to use Optimizer's parameters ( #320 , #319 )
2018-10-15 13:41:44 -04:00
matlabbe
444b511548
rtabmap: use last argument with db suffix as the database used (fixed issue when setting a dictionary path as argument)
2018-10-15 11:33:46 -04:00
matlabbe
527cbddb4b
rtabmap app: default log level is now warning. This avoids showing log stuff when using --params argument for example.
2018-10-12 16:03:29 -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
9f31830f03
Install system libraries only in BUILD_AS_BUNDLE mode, install vcomp###.dll is built with openmp
2018-10-11 15:19:20 -04:00
matlabbe
e4098cb54b
Fixed GTSAM search by ignoring findGTSAM.cmake file from PCL
2018-10-11 14:28:41 -04:00
matlabbe
aa13ea1a80
Update .appveyor.yml
...
Added GTSAM_DIR variable to cmake to help finding GTSAM, Using OpenCV2 instead of OpenCV3 binaries as BRIEF is not available in OpenCV3 binaries.
2018-10-09 20:46:58 -04:00
matlabbe
b717910db8
Fixed QMutex still locked on exit warning. Removing old parameters from ini file on saving. Memory: Removed completely the use of Vis/CorType (only used by F2F odom).
2018-10-04 17:09:03 -04:00
matlabbe
16309e6d18
Added StereoSGBM ( fixed #77 ) ( #318 )
...
* Added StereoSGBM class
* fixed StereoSGBM build for OpenCV2
2018-10-04 16:10:16 -04:00
matlabbe
a1079761e7
fixed #317
2018-10-04 11:06:47 -04:00
matlabbe
6b5990aa04
odom variance verification limited to yaw if 3dof registration/optimization is done
2018-10-02 18:02:55 -04:00
matlabbe
ae08adb8bd
warn odom high variance only one time
2018-10-02 15:32:26 -04:00
matlabbe
711184c465
Windows: Fixed linker error
2018-10-02 00:07:34 -04:00
matlabbe
b5dec56eaf
Parameters: added RGBD/LoopCovLimited, refactored "detect more loop closures" in MainWindow/DBViewer/rtabmap
2018-10-01 20:22:20 -04:00
matlabbe
0059a4bc1b
Camera refactoring ( #315 )
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* 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
eb38b9cfab
Update README.md
2018-10-01 11:28:51 -04:00
matlabbe
459f0b7fa0
Update README.md
2018-09-30 16:13:04 -04:00
matlabbe
db3b901063
Update package.xml
...
Bump package version
2018-09-29 11:58:58 -04:00
matlabbe
8b055752aa
RegistrationIcp: Fixed invalid variance set when structural complexity is low and input doesn't have normals. DBViewer: added check on angular error after optimizing the graph when adding a new constraint. Memory: added warning if odom angular variance detected is very high.
2018-09-28 22:02:07 -04:00
matlabbe
dbb9cfa77a
Parameters: Updated description of Rtabmap/TimeThr and Rtabmap/MemoryThr ( https://github.com/introlab/rtabmap_ros/issues/276 )
2018-09-28 15:37:24 -04:00
matlabbe
95e87fed14
MLS: added output voxel size parameter
2018-09-28 09:45:43 -04:00
matlabbe
02fdd677cf
💄
2018-09-27 16:08:55 -04:00
matlabbe
3b74534567
Parameters: Mem/LaserScanNormalRadius should be a float
2018-09-27 14:28:51 -04:00
matlabbe
790b0e5cf7
Memory: undistortion of features can be done also for RGB-only case
2018-09-27 10:19:28 -04:00
matlabbe
5e08da51aa
RealSense: fixed color rectification. Fixed ZR300 odometry frame.
2018-09-26 20:51:12 -04:00
matlabbe