matlabbe
a5350c4891
Optimizer: fixed bad g2o optimizations on 2d slam when there are 3D landmarks ( #384 ). DBViewer: landmarks can be now visualized.
2019-04-26 14:03:25 -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
9b63297a6b
New parameter "RGBD/MaxOdomCacheSize" used in localization mode to reject similar locations (default disabled)
2019-04-05 19:37:40 -04:00
matlabbe
fc9c762516
Added Optimizer/GravitySigma parameter (with GTSAM support).
2019-03-31 15:51:50 -04:00
matlabbe
c0a7c3a344
0.19.1: Added OdometryVINS (VINS-Fusion integration, Odom/Strategy=9)
2019-03-18 20:45:34 -04:00
matlabbe
cf4db63226
New parameter: OdomF2M/ValidDepthRatio
2019-03-06 12:35:54 -05:00
matlabbe
530da08145
Added Aruco/MaxDepthError parameter
2019-03-01 18:34:49 -05:00
matlabbe
d089e95e5a
MarkerDetection: added automatic marker's length estimation when depth image is provided (and when Aruco/MarkerLength is 0).
2019-02-22 20:01:09 -05:00
matlabbe
d6ca37a9e7
Integration of OpenCV's ArUco Marker Detection (see new parameter "RGBD/MarkerDetection")
2019-02-18 18:19:55 -05:00
matlabbe
38b8746507
Added Mem/ImageCompressionFormat parameter (default .jpg)
2019-02-11 15:23:38 -05:00
matlabbe
9da2c1918f
CameraImages: moved scan filtering stuff to CameraThread
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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
200ec8e5db
0.18.3: added landmarks (graph optimization, localization, navigation)
2018-12-07 18:29:41 -05:00
matlabbe
b862d6bc48
0.18.2: Added Odom/GuessSmoothingDelay parameter
2018-11-21 11:57:04 -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
fad1993a01
Preferences->Source: added Tara stack widget panel
2018-10-31 11:00:01 -04:00
e-con Systems India Pvt Ltd
53513b6632
Tara Camera added to Master branch ( #331 )
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* Tara Camera integration
* Update preferencesDialog.ui
* Update preferencesDialog.ui
2018-11-01 02:57:07 +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
16309e6d18
Added StereoSGBM ( fixed #77 ) ( #318 )
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* Added StereoSGBM class
* fixed StereoSGBM build for OpenCV2
2018-10-04 16:10:16 -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
5e08da51aa
RealSense: fixed color rectification. Fixed ZR300 odometry frame.
2018-09-26 20:51:12 -04:00
matlabbe
c341648a44
Added parameter "Rtabmap/RectifyOnlyFeatures". Added support of fisheye distortion model.
2018-09-24 14:36:54 -04:00
matlabbe
9e13d5600a
GUI: Fixed ProbMiss assert when resetting value to default
2018-08-16 16:51:29 -04:00
matlabbe
35d5200a3b
Parameters in group GridGlobal: renamed OctoMapOccupancyThr to OccupancyThr, added ProbHit, ProbMiss, ProbClampingMin, ProbClampingMax. Using logodds approach from OctoMap to evaluate occupancy of standard grid map. ref https://github.com/introlab/rtabmap_ros/issues/269
2018-08-16 14:42:05 -04:00
matlabbe
d5128ddc18
Added parameter Mem/CovOffDiagIgnored (default true)
2018-08-05 12:51:50 -04:00
matlabbe
b63590bf1d
Memory: Fixed features with no id (-1) ignored for triangulation from motion. Dictionary: matching with negative word ids is now allowed
2018-07-26 20:41:54 -04:00
matlabbe
cfdee23d33
Statistics: added variance info of the loop closure/localization. GUI: Graph view option to show nodes on which loop closures/localizations happened
2018-07-26 14:40:16 -04:00
matlabbe
9ae47b79f9
Working MSCKF
2018-07-18 16:15:41 -04:00
matlabbe
15e09cd0a8
Devel: new feature msckf_vio
2018-07-14 20:40:44 -04:00
matlabbe
41d5e11511
Preferences: updated a description text
2018-07-09 12:01:31 -04:00
matlabbe
c8100e1464
Gui: show graph color based on visual features
2018-07-09 11:33:39 -04:00
matlabbe
675da6201a
Added OdomLOAM/LocalMapping parameter
2018-06-28 11:30:21 -04:00
matlabbe
d447329bf1
Added LOAM (loam_velodyne) odometry support
2018-06-28 11:10:46 -04:00
matlabbe
973bf93c77
RealSense: added depthScaledToRGBSize option to be able to feed ORB_SLAM2 with depth and RGB images with same size #287 .
2018-06-19 13:53:03 -04:00
matlabbe
502d5e75e8
CameraRealSense2: added IR-Depth mode option
2018-06-15 14:35:54 -04:00
matlabbe
eb4de8e724
Added RealSense2 driver to UI
2018-06-15 13:29:08 -04:00
matlabbe
9f22a2b1f8
Updated CameraStereoZed to latest zed sdk (2.4)
2018-06-03 02:40:19 -04:00
matlabbe
7424a1f463
When Mem/DepthAsMask is false, features without depth are triangulated using odometry. Added parameter RGBD/LocalBundleOnLoopClosure.
2018-06-01 16:26:09 -04:00
matlabbe
055cccd151
rtabmap: support two usb devices for stereo input
2018-05-29 15:43:02 -04:00
matlabbe
d34a529116
Added Rtabmap/StartNewMapOnGoodSignature parameter
2018-05-24 14:53:47 -04:00
matlabbe
bfce5cceb5
Fixed #275 . Removed Grid/Scan2dMaxFilledRange parameter (use Grid/RangeMax instead).
2018-04-14 16:48:29 -04:00
matlabbe
592b7c66c5
0.17.0: saving optimized poses and last localization pose to database ( https://github.com/introlab/rtabmap_ros/issues/220 ). Parameters: fixed Icp default parameters when not built with libpointmatcher, added RGBD/SavedLocalizationIgnored (default false). DbViewer: added Export/Import 2D map ( https://github.com/introlab/rtabmap_ros/issues/213 ).
2018-04-04 19:14:13 -04:00
matlabbe
257fe20c4f
OdometryF2F: fixed published localScanMap in wrong frame
2018-03-13 00:01:32 -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
297cf3f51e
0.16.2: Added wm_state field to database's Statistics table. New parameter "Rtabmap/SaveWMState" (default false). DbViewer: added option in GraphView to show only poses of the root id that were in WM at that time
2018-02-21 18:19:20 -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.
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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