matlabbe
56df87e60c
GraphViewer: Added "hide/show graph nodes" menu action, added 1% border when exporting to SVG
2018-02-04 14:18:39 -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.
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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
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
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
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
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
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
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
426a2f983c
fixed mapId for pose -1 not found error when filtering nodes to be shown
2017-10-29 13:23:38 -04:00
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
6b9d4fe7c5
Fixed reset camera orientation
2017-10-24 12:33:50 +02:00
matlabbe
b6f41eecfd
MainWindow: Fixed recovery msg error
2017-10-24 11:34:39 +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
37a9712532
CloudViewer: added pcl visualizer access for inherited classes
2017-10-18 12:28:07 +02:00
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
c02cc6d193
Updated About dialog
2017-10-11 13:40:31 -04:00
matlabbe
f6315e48d0
CameraFreenect2: added pipelineName parameter
2017-10-11 12:50:57 -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
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
b187409e59
ExportCloudsDialog: fixed assembled cloud not set to dense (as it should) before voxel filter
2017-09-29 12:03:48 -04:00
matlabbe
1220eab47a
Added RGBD/LinearSpeedUpdate and RGBD/AngularSpeedUpdate parameters
2017-09-28 13:34:55 -04:00
matlabbe
9691a4f361
Added GPS class for convenience, database viewer can view GPS values and export to KML format
2017-09-26 14:13:06 -04:00
matlabbe
ef4aff7d34
fixed gps fields missing in non-android build
2017-09-21 21:28:39 -04:00
matlabbe
fd18c0b2e9
Added Mem/LaserScanVoxelSize and OdomF2M/ScanSubtractAngle parameters. util3d::computeNormalsComplexity() now returns PCA's eigen vectors and values optionally. RegistrationIcp: detecting complexity of environment when PointToPLane is used, if too low, PointToPoint is done and movements are limited to main direction of the normals.
2017-09-19 14:15:17 -04:00
matlabbe
a70996f079
util3d: Fixed color not copied on laser scan conversion
2017-09-18 17:00:15 -04:00
matlabbe
2aa56c8d49
MainWindow: Fixed seg fault on scan rgb without normals
2017-09-18 15:52:39 -04:00
matlabbe
b2fb7d5d5b
Supporting g2o from ORB_SLAM2
2017-09-17 13:28:25 -04:00
matlabbe
16ffcc7684
DatabaseViewer: just show single axis on constraint viewer if built with PCL < 1.7.2
2017-09-11 20:59:36 -04:00
matlabbe
16c428e360
GUI: update logger filter ids after starting the camera. Update default value of parameters "Odom/ScanKeyFrameThr=0.9" and "Icp/PointToPlaneMinComplexity=0.02"
2017-09-11 14:44:39 -04:00
matlabbe
aca005c287
Added parameter "IcpPointToPlaneMaxComplexity". Added util3d::computeNormalsComplexity(). OdomInfo has now RegistrationInfo field to avoid duplicating members.
2017-09-11 13:17:53 -04:00
matlabbe
380fc2cbde
PreferencesDialog: Fixed odom stack widget index always set to ORB-SLAM2 on loading
2017-09-06 11:01:39 -04:00
matlabbe
4f55b56d6b
Odometry: 2D scans + normals support
2017-08-31 18:01:46 -04:00
matlabbe
b70ffb6331
fixed multi scans matching with normals, removed some debug logs
2017-08-28 16:40:08 -04:00
matlabbe
423b47a5ff
New 2d scan type: CV_32FC5 (x,y,normal_x,normal_y,normal_z)
2017-08-28 16:40:08 -04:00
matlabbe
52a4e8964f
0.13.3: scan2d with normals support/registration
2017-08-28 16:40:07 -04:00
matlabbe
317aa3b6ed
Parameters: added Icp/PMOutlierRatio for convenience
2017-08-23 12:22:58 -04:00
