matlabbe
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548f0b6130
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Fixed Android build
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2018-03-18 16:00:03 -04:00 |
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matlabbe
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f7e007018f
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fixed Windows build
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2018-03-18 19:43:20 -04:00 |
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matlabbe
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436e82653c
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Parameters: updated default of Icp/CorrespondenceRatio and Icp/PMOutlierRatio. Fixed OptimizerG2O build with ORB_SLAM2. Fixed seg fault after restarting ORB_SLAM2 odometry.
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2018-03-17 18:20:32 -04:00 |
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matlabbe
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ecf598e412
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util3d::laserScanFromPointCloud(...): ignore NaN points and normals. RegistrationIcp: ignoring NaNs on conversion to PD format to fix some registration fails caused by NaNs.
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2018-03-13 02:27:59 -04:00 |
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matlabbe
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257fe20c4f
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OdometryF2F: fixed published localScanMap in wrong frame
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2018-03-13 00:01:32 -04:00 |
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matlabbe
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ba011169b8
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DbViewer: don't modify ground truth values (previously they were aligned with root)
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2018-03-12 20:57:34 -04:00 |
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matlabbe
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ffe50dad22
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When exporting poses, set txt extension by default if not set
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2018-03-12 20:26:34 -04:00 |
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matlabbe
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dc289ba635
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DbViewer: when align with ground truth is enabled, exported poses are those aligned with ground truth
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2018-03-12 18:51:55 -04:00 |
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matlabbe
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10724fac3b
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fixed opencv2/core.hpp not found
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2018-03-07 20:55:10 -05:00 |
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matlabbe
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4969ece356
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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).
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2018-03-07 19:43:30 -05:00 |
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matlabbe
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2fad881202
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fixed a compilation warning
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2018-02-23 17:55:31 -05:00 |
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matlabbe
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39b363d0b5
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Memory: compute scan max range if not set on signature creation.
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2018-02-23 15:52:59 -05:00 |
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matlabbe
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215eff3212
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MainWindow: updated default 2d scan with normals color for map and odom
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2018-02-23 11:13:26 -05:00 |
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matlabbe
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e1a0fc42ea
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Rtabmap: added ebug info when proximity scan matching is disabled
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2018-02-23 10:47:07 -05:00 |
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matlabbe
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69d28db660
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DbViewer: optimized fetching wm states from db, added checkbox along graph iteration slider to generate intermediate graphes.
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2018-02-23 10:12:36 -05:00 |
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matlabbe
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c3ab04b436
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Report: removed a test UERROR
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2018-02-22 16:37:55 -05:00 |
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matlabbe
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918281a804
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Rgbd_dataset: fixed Rtabmap/CreateIntermediateNodes not used
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2018-02-22 12:09:03 -05:00 |
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matlabbe
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297cf3f51e
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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
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2018-02-21 18:19:20 -05:00 |
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matlabbe
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93e1d732c9
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DbViewer: added option to align scans/clouds to ground truth for convenience
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2018-02-21 15:13:02 -05:00 |
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matlabbe
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1bfde1f9f0
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Neigbor refining can be done with any Registration approach. Memory::computeIcpTransformMulti(): correspondences ratio increased by two times to accept transform
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2018-02-21 12:23:12 -05:00 |
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matlabbe
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489ab86ac7
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dbviewer: fixed variance*100 for proximity by space links (multi-scan).
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2018-02-21 10:08:48 -05:00 |
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matlabbe
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e8f7746c87
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dbviewer: removed voxel filtering from scan display
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2018-02-21 08:38:35 -05:00 |
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matlabbe
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db1139e89e
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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.
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2018-02-20 17:33:48 -05:00 |
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matlabbe
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5c04ce257b
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DbViewer: can launch with a directory argument to set current workspace for convenience.
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2018-02-19 16:37:17 -05:00 |
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matlabbe
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6cdb2a48fd
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OctoMap: improved projection performance
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2018-02-19 16:25:55 -05:00 |
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matlabbe
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37cbf79b4c
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DbViewer: fixed occupancy grid color options. Reprocess: added grid total time including rtabmap stats
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2018-02-18 21:32:19 -05:00 |
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matlabbe
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00559ce8d6
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ground segmentaiton: adjusted cluster inlier with centroid below max height of biggest cluster
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2018-02-18 15:30:20 -05:00 |
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matlabbe
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07244a8a73
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Fixed occupancy grid created from PointNormal with RGB
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2018-02-18 15:10:25 -05:00 |
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matlabbe
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d181bedbfc
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Gui 3d rendering: added default color scheme option, added min and max range options for laser scans
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2018-02-17 09:46:08 -05:00 |
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matlabbe
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077b3ab59e
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RegistrationIcp: Added laserScanToDP()
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2018-02-17 07:48:10 -05:00 |
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matlabbe
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edbed67afe
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Windows: added missing RTABMAP_EXP in LaserScan class. Memory: fixed wrong laser scan format set when filtering is enabled.
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2018-02-16 20:56:48 -05:00 |
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matlabbe
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a947f8c783
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Fixed 2d multi-scan matching fatal error
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2018-02-16 20:23:42 -05:00 |
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matlabbe
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6e131dcd7e
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fixed build on linux
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2018-02-16 19:54:49 -05:00 |
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matlabbe
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d24097f73d
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0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...)
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2018-02-16 19:20:54 -05:00 |
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matlabbe
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bfb3a58c01
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Optimizer: added optimizeIncremental() method to solve optimization error problems when re-opening the database (when graph should be re-optimized from raw odometry poses, not latest optimized poses, #172)
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2018-02-13 18:18:42 -05:00 |
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matlabbe
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02a64a7fa3
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Added ctrl-c handling to reprocess and recovery tools.
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2018-02-13 16:54:31 -05:00 |
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matlabbe
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3dfe1ccb1a
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DbViewer: updated warning msg when graph optimization fails.
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2018-02-13 14:14:08 -05:00 |
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matlabbe
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c6e5f1c9f8
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Fixed PCL extract indices filter workaround for PointNormal type (not defined in current released PCL). Compression: Fixed OpenCV memory leak when converting uncompressed depth image to 32F format.
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2018-02-13 12:36:23 -05:00 |
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matlabbe
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4c0a612ab5
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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.
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2018-02-13 10:16:48 -05:00 |
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matlabbe
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09cae9cbd3
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DbViewer: added color selectors for obstacle, ground and empty cells.
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2018-02-12 11:32:17 -05:00 |
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matlabbe
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1595405871
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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.
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2018-02-11 16:07:26 -05:00 |
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matlabbe
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1c8c233ebf
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fixed compilation errors on octomap >=1.8 introduced by previous commit for octomap < 1.8
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2018-02-09 11:02:01 -05:00 |
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matlabbe
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c2d0628da1
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Fixed compilation errors with octomap < 1.8
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2018-02-09 10:53:39 -05:00 |
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matlabbe
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2e58fa3c2f
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Fixed OctoMap build error with version <1.8
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2018-02-08 22:04:50 -05:00 |
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matlabbe
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fced2c521c
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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.
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2018-02-08 21:40:17 -05:00 |
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matlabbe
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e7ceacc215
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Fixed broken incremental prediction matrix from commit 977d21e
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2018-02-07 18:16:19 -05:00 |
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matlabbe
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a320eb5d8e
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ExportCloudsDialog: voxel size is now to 0.02 by default to limit the size of generated cloud (using too much RAM may result in a crash)
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2018-02-06 11:34:54 -05:00 |
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matlabbe
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42199eefd2
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Added --poses option to report tool. Reprocess tool: Export ground/obstacles when 3d map is created.
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2018-02-06 11:31:39 -05:00 |
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matlabbe
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56df87e60c
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GraphViewer: Added "hide/show graph nodes" menu action, added 1% border when exporting to SVG
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2018-02-04 14:18:39 -05:00 |
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matlabbe
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90ed9cd15c
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Added support for latest g2o code (with c++11 interface)
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2018-02-03 15:43:32 -05:00 |
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