matlabbe
61199eff9c
fixed CameraThread compilation error with OpenCV<3, added yaml-cpp dependency to travis
2018-02-02 08:35:06 -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
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
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
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
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
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
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
303f315b3e
fixed assert when Odom/AlignWithGround is true and generated cloud is empty
2017-10-24 11:40:58 +02:00
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
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
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
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
nayabrasul
d927f1886c
Update Rtabmap.h
...
Proper closing of name space with in the #RTABMAP_H_. Multiple includes of "Rtabmap.h" with in the application causing the compilation problem.
2017-10-06 16:57:30 +02:00
matlabbe
9abd925ab7
Reset bayes filter when new map is triggered
2017-09-29 13:28:17 -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
Oubayda
74ee322312
Update CameraThread.cpp
...
When Mirroring option is checked, a depth calibration cannot be done because of the new mirrored CameraModel named tmpModel have its imageSize set to cv::Size(0, 0) so the method named isValidForReprojection() (which used in CalibrationDialog.cpp to check that the camera model is valid to do the calibration method) always returns false
2017-09-25 21:50:09 +03:00
matlabbe
bfc393a090
0.14: added gps field to Node table in database ( #226 ). Tango: saving gps if enabled, added Rename/Remove/Share on long click in Open dialog ( fixed #233 )
2017-09-21 20:59:45 -04:00
matlabbe
b737df9c40
Merge branch 'devel' of https://github.com/introlab/rtabmap
2017-09-19 14:40:19 -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
cf6478b633
util3d::transformLaserScan(): supporting 7 channels
2017-09-18 21:49:57 -04:00
matlabbe
a70996f079
util3d: Fixed color not copied on laser scan conversion
2017-09-18 17:00:15 -04:00
matlabbe
b2fb7d5d5b
Supporting g2o from ORB_SLAM2
2017-09-17 13:28:25 -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
77bdff1e4b
removed a debug log
2017-09-11 14:03:57 -04:00
matlabbe
1ae15911fc
Fixed compilation warning of not used variables when some odom approaches are not supported
2017-09-11 14:00:08 -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
39283a5526
RegistrationIcp: libpointmatcher setting PointToPLane force2D parameter
2017-09-01 18:12:19 -04:00
