 matlabbe
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536f001479
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Added OptimizerCeres class (Optimizer/Strategy=3)
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2019-08-17 03:55:04 -04:00 |
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matlabbe
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38044040a6
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Fixed mask when there are inf values in depth image
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2019-08-16 16:38:25 -04:00 |
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matlabbe
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2a1b737470
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OdometryVINS: fixed output pose orientation (D435i and euroc compatible)
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2019-08-15 16:46:56 -04:00 |
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matlabbe
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4b118ae660
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Added FastCV support (see FAST/CV parameter). VWDictionary: loading fixed dictionary only on updates (to avoid loading it multiple times when memory is reset).
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2019-08-14 12:09:56 -04:00 |
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matlabbe
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d5b4b25287
|
updated ORBExtractor opencv include (compatibility issue https://github.com/introlab/rtabmap_ros/issues/333)
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2019-08-09 15:31:47 -04:00 |
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matlabbe
|
262d74d1e3
|
fixed a compilation error
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2019-08-01 16:29:44 -04:00 |
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matlabbe
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6767c2ade2
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0.19.5: added Icp/RangeMin and Icp/RangeMax parameters
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2019-08-01 16:21:01 -04:00 |
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matlabbe
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487caab349
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CMake: added RTABMAP_QT_VERSION option (default auto)
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2019-07-31 10:37:59 -04:00 |
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matlabbe
|
283274e056
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DbViewer: Added Gravity info (https://github.com/introlab/rtabmap_ros/issues/323)
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2019-07-29 10:45:16 -04:00 |
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matlabbe
|
1a5220182c
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CloudViewer: added vtkTexture.h include (#425)
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2019-07-28 21:24:55 -04:00 |
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matlabbe
|
cd5e4f3055
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Travis: added xenial build
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2019-07-28 20:53:08 -04:00 |
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matlabbe
|
7ea08b87d5
|
Travis: added bionic build
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2019-07-28 20:46:04 -04:00 |
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matlabbe
|
a90356f0c9
|
fixed https://github.com/introlab/rtabmap_ros/issues/326
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2019-07-26 14:03:32 -04:00 |
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matlabbe
|
6713fe8bd2
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fixed https://github.com/introlab/rtabmap_ros/issues/330
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2019-07-25 13:15:44 -04:00 |
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matlabbe
|
62d8a892c6
|
DbViewer: fixed graph not re-optimized after refining an added link. Rtabmap: RGBD/ProximityPathMaxNeighbors=1 means only nearest node on a path
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2019-07-23 15:21:32 -04:00 |
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matlabbe
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3558640407
|
OptimizerGTSAM: fixed landmarks not transformed back in 3D after 2D optimization (slam2d)
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2019-07-17 12:15:04 -04:00 |
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matlabbe
|
5222506578
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DbViewer: neighbor links can be rejected (a warning about splitting the graph is shown though)
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2019-07-11 18:53:47 -04:00 |
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matlabbe
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89f1e809e6
|
CameraK4A: use mkv framerate if camera rate is -1. Preferences/Source: fixed imu filter parameters not reset on restore defaults
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2019-07-11 18:13:20 -04:00 |
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matlabbe
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0973f48b2c
|
CameraK4A: added finding lib on linux
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2019-07-10 12:34:13 -04:00 |
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matlabbe
|
3c7719f6d8
|
Added CameraK4A driver (only MKV playback supported yet). Fixed build with realsense2 support on Windows. Preferences: added imu filtering parameters to ini file.
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2019-07-09 20:48:09 -04:00 |
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matlabbe
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63be7c85fc
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DBViewer: when adding new constraints, if visual reg is not used, we use optimized graph as guess
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2019-07-05 16:28:31 -04:00 |
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matlabbe
|
78d0d60b9f
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Added RealSense SR300 camera support (#421)
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2019-07-05 11:19:45 -04:00 |
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matlabbe
|
bb94adc846
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UPlot: Fixed backward compatibility with Qt4
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2019-07-03 14:22:17 -04:00 |
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matlabbe
|
abbf7e4476
|
Updated UPlot data copy to include data of all curves (common x-axis), added also mean and max along stddev in legend item option
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2019-07-03 12:01:34 -04:00 |
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matlabbe
|
72e613fe28
|
UPlot: updated copy curve data to clipboard format to be more convenient for copy/paste directly in excel, also added curve names as header
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2019-06-26 16:59:44 -04:00 |
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matlabbe
|
49977b5475
|
Added ground truth localization error stats
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2019-06-26 16:21:03 -04:00 |
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matlabbe
|
9d8fd364e3
|
UI/Preferences: Adjusted Vis/MinInliersDistribution decimals
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2019-06-18 14:22:29 -04:00 |
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matlabbe
|
50fdc210c9
|
Memory: added some warnings about pre-postdecimation parameters, updated their description (removed negative decimation comment)
|
2019-06-17 10:19:54 -04:00 |
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matlabbe
|
d205683eb5
|
Added parameters Vis/MeanInliersDistance and Vis/MinInliersDistribution
|
2019-06-16 18:54:39 -04:00 |
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matlabbe
|
85edc57ba5
|
Added RGBD/MaxLocalizationDistance parameter
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2019-06-12 16:03:52 -04:00 |
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matlabbe
|
b5f5623af4
|
CameraRealSense2: updated how stamping is done, updated default D435 frame resolution/fps
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2019-06-06 17:17:11 -04:00 |
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matlabbe
|
e09a872fa2
|
GUI: added word wrap to transform label in loop closure viewer. Memory: creating a RegistraitonVis for stereo from motion if memory's registration pipeline is not vis only.
|
2019-06-02 14:59:11 -04:00 |
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matlabbe
|
cdbdc36c94
|
RegICP: Updated warning when complexity is too low. LoopClosureViewer: fixed scan transform.
|
2019-06-02 12:38:09 -04:00 |
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matlabbe
|
8cb923b332
|
Reduced local bundle on loop closure iterations to 5. Updated graph::filterLinks() to handle selfRef link type. DbViewer: removed gravity constraints from constraints view.
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2019-06-01 21:43:13 -04:00 |
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matlabbe
|
ec943198f0
|
Rtabmap: re-optimize at each frame when gravity constraints are added
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2019-05-31 19:31:11 -04:00 |
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|
matlabbe
|
4c8af6d6e9
|
fix build errors with opencv2, added Transform::getClosestTransform() function for convenience.
|
2019-05-31 16:51:37 -04:00 |
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matlabbe
|
d5d00fbd7d
|
merged master to imu_feature
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2019-05-31 15:39:49 -04:00 |
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matlabbe
|
e887d462ce
|
Memory: Added parameter Mem/UseOdomGravity, adding kGravity links when creating a node if IMU is present or Mem/UseOdomGravity is set. Fixed OpenCV4 related build errors on stereo fisheye rectification code. Signature: changed links from map to multimap to support having multiple self references (prior, gravity constraints...). DBReader: publish IMU orientation if a gravity link is detected.
|
2019-05-31 15:36:35 -04:00 |
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|
matlabbe
|
cd6e51a968
|
fixed #401
|
2019-05-30 10:04:40 -04:00 |
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|
matlabbe
|
71f7515775
|
Added resolution parameters for Usb camera and realsense2 sources
|
2019-05-15 19:21:32 -04:00 |
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|
matlabbe
|
f8a8e55e7e
|
UI: Update preferences with the new imu filter parameters. Camera: added imu filtering option. Updated support for zedm, D435i and T265.
|
2019-05-13 18:42:46 -04:00 |
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matlabbe
|
cbca362cc4
|
Added T265 odometry support
|
2019-05-12 19:27:32 -04:00 |
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|
matlabbe
|
750ad5bd44
|
Fixed build error without realsense2
|
2019-05-11 16:11:19 -04:00 |
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|
matlabbe
|
e03a9b3003
|
DBViewer: fixed Optimizer/GravitySigma not used on optimization
|
2019-05-10 11:45:15 -04:00 |
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|
matlabbe
|
d4b4379829
|
Added T265 support (stereo-only yet)
|
2019-05-09 19:20:26 -04:00 |
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matlabbe
|
5b5b594f4a
|
Fixed assert when Mem/DepthAsMash=false and Vis/MaxDepth or Vis/MinDepth are set
|
2019-05-07 21:09:46 -04:00 |
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|
matlabbe
|
e6f471d88e
|
Added imu to odom bundle adjustment. Added IMUFilter classes. Changed Aruco parameter prefix to Marker. Zed: publishing IMU data.
|
2019-05-07 18:57:53 -04:00 |
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|
matlabbe
|
0fd69f22d4
|
fixed a comment typo
|
2019-05-04 15:03:09 -04:00 |
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|
matlabbe
|
cc95ca1cf6
|
Fixed dim assert with binary descriptors and fixed dictionary
|
2019-05-04 14:58:02 -04:00 |
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matlabbe
|
4675240d6e
|
Tango: added setCanceledOnTouchOutside() on all dialogs
|
2019-04-29 18:08:16 -04:00 |
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|
matlabbe
|
630b565cd4
|
reprocess: added double dash support for arguments for convenience. Rtabmap: fixed typo in localization verification by odom graph optimization.
|
2019-04-29 17:11:29 -04:00 |
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|
matlabbe
|
125d532e95
|
Added graph::calcRelativeErrors() and option --relative for report. Added skip frames option on rgbd_dataset tool.
|
2019-04-27 20:39:40 -04:00 |
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|
matlabbe
|
195f6147ad
|
DBViewer: added feature/line color menu option. CameraImages/DBReader: added maxFrames parameter
|
2019-04-26 19:20:35 -04:00 |
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matlabbe
|
cd2c261e2b
|
EditDepthArea: added cluster error menu option, fixed seg fault on large cluster removal
|
2019-04-26 18:03:07 -04:00 |
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matlabbe
|
38a83c0cd9
|
DbViewer: disabling all buttons in Constraints View when visualizing a landmark link
|
2019-04-26 14:14:35 -04:00 |
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|
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 |
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|
matlabbe
|
f9b7b54454
|
Dictionary: new bin descriptor to 32f conversion. RegVis: removed octave comparisons.
|
2019-04-24 01:24:55 -04:00 |
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|
matlabbe
|
1a71406f84
|
Fixed Windows build (std::back_inserter not found)
|
2019-04-23 16:15:50 -04:00 |
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|
matlabbe
|
f1ae4002aa
|
💄 run_euroc_datasets.sh
|
2019-04-23 09:07:15 -04:00 |
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|
matlabbe
|
d4585960fc
|
RegVis: fixed orboctree descriptor extractions. KeypointItem: fixed placeholder gray scale for yellow features.
|
2019-04-22 19:50:41 -04:00 |
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|
matlabbe
|
191de5baea
|
docker/jfr2018: fixed kitti run script
|
2019-04-21 19:34:40 -04:00 |
|
|
matlabbe
|
ef2c68d768
|
Fixed build with opencv2
|
2019-04-18 20:37:50 -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
|
8a6c0dad00
|
Fixed build with Qt4
|
2019-04-17 19:36:15 -04:00 |
|
|
matlabbe
|
bc2f89e66f
|
DbViewer: added a progress dialog when loading a database
|
2019-04-17 16:46:03 -04:00 |
|
|
matlabbe
|
23602935e1
|
Optimizer::getConnectedGraph() fixed poses created by propagating links (more robust to multi-session)
|
2019-04-17 15:30:47 -04:00 |
|
|
matlabbe
|
aaefdae794
|
DBViewer: improved loading time on large dbs
|
2019-04-17 14:57:56 -04:00 |
|
|
matlabbe
|
38cdc76790
|
reprocess: added more localization info
|
2019-04-17 14:57:15 -04:00 |
|
|
matlabbe
|
a668ec35ab
|
Export: normal estimation can be disabled, clouds can be exported with normals
|
2019-04-17 13:45:42 -04:00 |
|
|
matlabbe
|
7acaac7a6d
|
g2o: fixed vertigo index when using landmarks. graphViewer: fixed outlier wrong set to some landmark links
|
2019-04-12 21:31:20 -04:00 |
|
|
matlabbe
|
428d5be129
|
fixed compilation warning
|
2019-04-12 19:27:12 -04:00 |
|
|
matlabbe
|
77ae8e108a
|
0.19.2: Refactored SensorData interface. DBReader: Fixed GPS not published. #345: both g2o and gtsam working with GPS. g2o: added gravity edges.
|
2019-04-09 20:05:24 -04:00 |
|
|
matlabbe
|
e7b3a7735d
|
Parameters.cpp: fixed build without VTK
|
2019-04-05 20:51:57 -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
|
ae12caff04
|
rtabmap: Adjust transforms with gravity on localization mode if Optimizer/GravitySigma is not null
|
2019-04-05 16:58:57 -04:00 |
|
|
matlabbe
|
61098be315
|
Update .appveyor.yml
|
2019-04-03 20:21:21 -04:00 |
|
|
matlabbe
|
727e4fe672
|
Updated --version info
|
2019-04-02 14:07:54 -04:00 |
|
|
matlabbe
|
fc9c762516
|
Added Optimizer/GravitySigma parameter (with GTSAM support).
|
2019-03-31 15:51:50 -04:00 |
|
|
matlabbe
|
35933cafba
|
Rtabmap::setInitialPose() update optimized poses if empty
|
2019-03-27 22:07:06 -04:00 |
|
|
matlabbe
|
09ced82c9f
|
Rtabmap::triggerNewMap() now does nothing in localization mode to make sure optimized map doesn't get regenerated
|
2019-03-27 20:48:00 -04:00 |
|
|
matlabbe
|
81313c32ee
|
detectMoreLoopClosures tool: Fixed windows build
|
2019-03-27 16:12:49 -04:00 |
|
|
matlabbe
|
8c92ed25e5
|
Rtabmap::detectMoreLoopClosures(): publish more progression messages for every loop closure found. rtabmap-detectMoreLoopClosures: we can do ctrl-c to interrupt the processing safely.
|
2019-03-27 15:39:46 -04:00 |
|
|
matlabbe
|
80ef0e1a75
|
DbViewer: improved opening time of large databases when info tab is not visible
|
2019-03-25 16:30:03 -04:00 |
|
|
matlabbe
|
73e15ee93d
|
DBViewer: Fixed message box text error when a constraint is rejected by too large angle
|
2019-03-25 16:09:09 -04:00 |
|
|
matlabbe
|
7cd7ce3b41
|
Odom/GuessSmoothingDelay changed default to 0 (tum long_office_household rosbag orientation issue on the teddybear)
|
2019-03-21 11:49:44 -04:00 |
|
|
matlabbe
|
6f4dce52fc
|
OdometryOkvis: return pose only after processing measurements (images)
|
2019-03-20 22:10:15 -04:00 |
|
|
matlabbe
|
ae3d651e83
|
updated run_tum_datasets.sh
|
2019-03-20 19:44:40 -04:00 |
|
|
matlabbe
|
0f552b4b65
|
Update run_kitti_datasets.sh
|
2019-03-20 19:39:33 -04:00 |
|
|
matlabbe
|
7a52f316f9
|
Update README.md
|
2019-03-20 19:38:23 -04:00 |
|
|
matlabbe
|
3cafdf911b
|
Docker: added new "latest" version of jfr2018 image (including VINS and latest rtabmap version). Updated jfr2018 scripts to easily switch to host installed rtabmap instead of docker
|
2019-03-20 19:36:56 -04:00 |
|
|
matlabbe
|
24a4d91ee8
|
OdometryOKVIS: added warning if config file doesn't exist, also replace ~ by home directory for convenience
|
2019-03-20 13:10:14 -04:00 |
|
|
matlabbe
|
b2fe138dbf
|
OKVIS: force ceres 1.9.0 version
|
2019-03-20 12:58:06 -04:00 |
|
|
matlabbe
|
e8e3649f24
|
Grid/OctoMap: updated update() interface to return boolean to know if the map has been updated
|
2019-03-19 14:10:30 -04:00 |
|
|
matlabbe
|
c0a7c3a344
|
0.19.1: Added OdometryVINS (VINS-Fusion integration, Odom/Strategy=9)
|
2019-03-18 20:45:34 -04:00 |
|
|
matlabbe
|
9c1c88d35e
|
Tango: added marker's max depth error setting
|
2019-03-18 10:37:02 -04:00 |
|
|
matlabbe
|
c44349511d
|
Fixed build with opencv < 3
|
2019-03-17 13:02:04 -04:00 |
|
|
matlabbe
|
0c8194373f
|
DbViewer: added "Edit optimized map" and "Regenerate Optimized Map" actions
|
2019-03-16 15:27:49 -04:00 |
|
|
matlabbe
|
c8db45b2a4
|
reverted 977f8eb262 (was not the problem...)
|
2019-03-14 19:06:32 -04:00 |
|
|
matlabbe
|
a0a566140c
|
rtabmap::computePath(pose) fixed fatal error when landmarks are in the graph
|
2019-03-14 17:16:51 -04:00 |
|
|
matlabbe
|
977f8eb262
|
OdometryF2M: fixed orientation ignored when setting initial pose for scans
|
2019-03-14 14:15:53 -04:00 |
|