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Commit Graph

461 Commits

Author SHA1 Message Date
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
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
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) 
* Tara Camera integration

* Update preferencesDialog.ui

* Update preferencesDialog.ui
 2018-11-01 02:57:07 +12:00
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
c14e20330f Fixed SIFT octave issue causing registration to always fail. Added Bundler export points option. 2018-10-24 20:01:57 -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
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
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
16309e6d18 Added StereoSGBM (fixed #77) (#318) 
* 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
95e87fed14 MLS: added output voxel size parameter 2018-09-28 09:45:43 -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
0cf37fbbf1 Added D415 icon 2018-09-15 11:37:02 -04:00
matlabbe
67aa4cd28e DbViewer: added decimation parameter for cloud visualization. ImageView: adding scaling to height menu option. 2018-08-17 14:01:11 -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
5e60a2596c DbViewer: show full covariance in Constraints View 2018-08-09 15:20:19 -04:00
matlabbe
d5128ddc18 Added parameter Mem/CovOffDiagIgnored (default true) 2018-08-05 12:51:50 -04:00
matlabbe
f938e8ce29 Calibration dialog: updated some tooltips 2018-08-03 14:49:39 -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
60499e895f Updated About dialog 2018-07-24 17:11:27 -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
b044bae304 DbViewer: added menu actions to view/update/export optimized mesh saved in database. CloudViewer: cubes can be added for convenience, fixed double-click not always working. util3d: added conversion function from LaserScan to PointCloud2, added conversion functions between polygons format saved in database and PCL polygons format with vertices. 2018-04-25 12:34:47 -04:00
matlabbe
bfce5cceb5 Fixed #275. Removed Grid/Scan2dMaxFilledRange parameter (use Grid/RangeMax instead). 2018-04-14 16:48:29 -04:00
matlabbe
79c4bd7850 Export: Added load and save settings buttons (#274) 2018-04-13 18:54:52 -04:00
matlabbe
a82261a4df Export: Added Poisson auto depth (value=0). CloudViewer: Added measuring tool. 2018-04-13 18:19:13 -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
d2f7d8a9c4 ExportDialog: Added OpenChisel meshing option 2018-03-26 18:06:41 -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
69d28db660 DbViewer: optimized fetching wm states from db, added checkbox along graph iteration slider to generate intermediate graphes. 2018-02-23 10:12:36 -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