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Author SHA1 Message Date
matlabbe 4991d3dbab fixed yaml-cpp optional requirement 2018-02-02 08:27:49 -05:00
matlabbe 3405e8b8e1 Merge branch 'master' of https://github.com/introlab/rtabmap into devel 2018-02-01 22:19:34 -05:00
matlabbe 977d21eed5 Update 0.15.4. 
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 09e0d0b9d8 Added RTAB-Map100.png logo of 100 pixels height for main readme to fix docker main page <a><img> tags not supported 2018-01-14 17:20:39 -05:00
matlabbe 79c38d66cb Fixed #255 2018-01-03 20:03:36 -05:00
matlabbe d7871fec2b Db: Fixed octave field missing when opening databases prior to 0.12 2017-12-21 14:58:16 -05:00
matlabbe 9f80f4ac42 RegVis: convert to 3dof before SBA 2017-12-21 10:16:46 -05:00
matlabbe d6058768fc RegVis: fixed out-of-range vector error when guess is used and we match to projections. ImageView: Added right-click menu option to set a fixed size for features 2017-12-18 14:38:54 -05:00
matlabbe 6a50b3f149 util3d::voxelize() added warning if cloud is not dense, indices empty but cloud not empty 2017-12-15 15:25:37 -05:00
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 7091406abc Merge branch 'master' of https://github.com/introlab/rtabmap into devel 2017-12-13 18:07:54 -05:00
matlabbe c21d478f5d ExportCloudsDialog: added more decimals to camera filtering options 2017-12-12 11:16:12 -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 821c1c938e DataRecorder: Can record odometry data if odometry is published by the camera (zed or realsense) 2017-11-21 14:14:37 -05:00
matlabbe 1df95702a3 DbViewer: Fixed octomap visualization when ground is not segmented 2017-11-21 13:24:21 -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 10c5cb3721 GUI: Added missing Rtabmap/ComputeRMSE parameter 2017-11-10 16:03:25 -05:00
matlabbe cc7db6190f fixed --quiet option in dataset tools 2017-11-09 12:48:47 -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 65e82eb37e appveyor: updated PATH to put qt bin before cmake bin 2017-11-05 18:03:33 -05:00
matlabbe 8a14e6ccb4 Update .appveyor.yml 2017-11-03 22:14:37 -04:00
matlabbe 5dadcf3862 apppveyor: activated gui build 2017-11-04 01:38:16 -04:00
matlabbe c001ff763a appveyor: disabled GUI build as QVTK lib is not built yet 2017-11-03 23:20:35 -04:00
matlabbe 3c59b601b5 updated appveyor.yml 2017-11-03 22:13:18 -04:00
matlabbe 4cb0d23136 updated appveyor.yml 2017-11-03 22:12:40 -04:00
matlabbe 2fd29c4b78 updated appveyor.yml 2017-11-03 22:04:07 -04:00
matlabbe c0344a56ff updated appveyor.yml 2017-11-03 21:39:13 -04:00
matlabbe 16692d47b2 updated appveyor.yml 2017-11-03 21:19:54 -04:00
matlabbe 204b3e1159 updated appveyor.yml 2017-11-03 21:10:24 -04:00
matlabbe 41d4ee20b0 updated appveyor.yml 2017-11-03 20:59:34 -04:00
matlabbe 4d17f3c2ff updated appveyor.yml 2017-11-03 20:54:27 -04:00
matlabbe 353fe177f4 updated appveyor.yml 2017-11-03 20:53:22 -04:00
matlabbe 4dc4239963 updated appveyor.yml 2017-11-03 20:48:36 -04:00
matlabbe 0a72cab089 updated appveyor.yml 2017-11-03 20:31:01 -04:00
matlabbe 57202b3ea0 updated appveyor.yml 2017-11-03 20:24:44 -04:00
matlabbe 69e7006cc8 updated appveyor.yml 2017-11-03 20:13:13 -04:00
matlabbe 7ee8652cc3 updated appveyor.yml 2017-11-03 20:02:11 -04:00
matlabbe 8f1331dab3 updated appveyor.yml 2017-11-03 19:54:57 -04:00
matlabbe 2998a54713 updated appveyor.yml 2017-11-03 19:47:45 -04:00
matlabbe ccba8e155e updated appveyor.yml 2017-11-03 19:42:55 -04:00
matlabbe e9317dc2c7 updated appveyor.yml 2017-11-03 19:36:04 -04:00
matlabbe 77f88e5cac appveyor.yml update 2017-11-03 11:47:10 -04:00
matlabbe 43649328cb update appveyor.yml 2017-11-03 11:35:33 -04:00
matlabbe 3629c8c493 added appveyor.yml 2017-11-03 11:33:21 -04:00
matlabbe 426a2f983c fixed mapId for pose -1 not found error when filtering nodes to be shown 2017-10-29 13:23:38 -04:00
matlabbe 85273b9ed7 fixed max tango pose radius 2017-10-29 10:48:04 -04:00
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 de5f3657ab PreferencesDialog: added virtual getDefaultWorkingDirectory() for convenience (can be changed in inherited class) 2017-10-25 10:56:43 +02:00
matlabbe 7a2ddd3905 fixed statsProcessed() not emitted at the right place 2017-10-25 09:56:05 +02:00
matlabbe d5200f859d MainWindow: added signals after statistics/cameraInfo/odometry and 3D map event have been processed 2017-10-25 09:48:00 +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 6b9d4fe7c5 Fixed reset camera orientation 2017-10-24 12:33:50 +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 b6f41eecfd MainWindow: Fixed recovery msg error 2017-10-24 11:34:39 +02:00
matlabbe c880366aaf Removed pcl visualization dependency from core lib 2017-10-24 10:05:39 +02:00
matlabbe e40a7d6681 0.14.3: exposed all gui widgets to public API. CloudViewer: fixed camera orientation reset 2017-10-20 12:09:34 +02:00
matlabbe b3149a2b55 Tango: fixed bug where black point clound is shown when visualizing a mesh with texture 2017-10-19 20:58:51 +02:00
matlabbe 37a9712532 CloudViewer: added pcl visualizer access for inherited classes 2017-10-18 12:28:07 +02:00
matlabbe bcf65d4cae Windows: qvtk missing lib on apps building against rtabmap 2017-10-17 11:13:17 +02:00
matlabbe 521126c982 fixing docker latest build (exit not defined) 2017-10-13 09:29:13 -04:00
matlabbe e2aea92e3b Tango: asking for sharing before showing share intent (to avoid automatically stop tango is we don't want to share) 2017-10-12 20:55:14 -04:00
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 ab0aad87ec Increased ZED version requirement to 2 2017-10-11 16:44:53 -04:00
matlabbe 5ac5ff638e Update README.md 2017-10-11 13:45:45 -04:00
matlabbe ed80acd87f Update README.md 2017-10-11 13:45:24 -04:00
matlabbe fa27757719 Update README.md 2017-10-11 13:44:55 -04:00
matlabbe c02cc6d193 Updated About dialog 2017-10-11 13:40:31 -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 8b3cff9f4c Tango: bump apk version 2017-10-10 12:39:51 -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 66e79e23cb Tango: kill camera instead of join to avoid lag when clicking pause 2017-10-09 13:05:41 -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
matlabbe 9a09db9212 Tango: added "Pose (x,y,z)" in debug view 2017-10-06 13:42:12 -04:00
matlabbe 1aad6d0517 Merge pull request #238 from nrasulnrasul/patch-1 
Proper closing of name space with in the #RTABMAP_H_
 2017-10-06 11:22:16 -04:00
matlabbe 0b8ff7cc01 DbViewer: sorting loop closures by parent ids. When checking ignore pose correction, graph is optimized without them. 2017-10-05 17:10:15 -04:00
matlabbe c4ae4919a5 Tango: some default parameters tuning 2017-10-02 17:44:59 -04:00
matlabbe 83e7f06500 Tango: offset odom origin when reset 2017-10-02 13:19:02 -04:00
matlabbe 9abd925ab7 Reset bayes filter when new map is triggered 2017-09-29 13:28:17 -04:00
matlabbe 7e0c17c5aa Bump tango apk version 2017-09-29 12:47:53 -04:00
matlabbe 6da7788f61 Tango: added GPS to default status when saved, reduced to 1 sec for GPS too old 2017-09-29 12:45:02 -04:00
matlabbe b187409e59 ExportCloudsDialog: fixed assembled cloud not set to dense (as it should) before voxel filter 2017-09-29 12:03:48 -04:00
matlabbe 079be0e072 incremented release version in readme 2017-09-28 17:25:02 -04:00
matlabbe 81c8e1b192 Tango: add Maximum Motion Speed option (default low) to avoid blurry images 2017-09-28 17:15:53 -04:00
matlabbe 1220eab47a Added RGBD/LinearSpeedUpdate and RGBD/AngularSpeedUpdate parameters 2017-09-28 13:34:55 -04:00