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Author SHA1 Message Date
matlabbe 63cc86bdcd rtabmap: fixed optimization error seg fault when no maxLinearLink can be found 2018-04-27 19:42:30 -04:00
matlabbe 637514d00d DbViewer: fixed odom pose not added to odomPoses_ when a location doesn't have any links 2018-04-27 19:07:43 -04:00
matlabbe b2db31ff18 Fixed backward compatibility error when saving statistics to db 2018-04-27 18:48:10 -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 f13e384a1b Added util3d::fixTextureMeshForVisualization() 2018-04-16 17:50:00 -04:00
matlabbe bfce5cceb5 Fixed #275. Removed Grid/Scan2dMaxFilledRange parameter (use Grid/RangeMax instead). 2018-04-14 16:48:29 -04:00
matlabbe 344dc165bc fixed #276 and #277 2018-04-14 13:41:04 -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 57a62dbbfd util3d::mergeTextures: Added assert msg 2018-04-10 12:21:48 -04:00
matlabbe cd125ae274 util3d::mergeTextures() added interface with single calibrations for convenience 2018-04-09 12:26:09 -04:00
matlabbe d9716590b1 Rtabmap: don't reset mapCorrection transform when triggering a new map 2018-04-05 11:28:07 -04:00
matlabbe 2b00b2c1c5 Tango: 0.17 fixing broken localization on visualization 2018-04-05 11:00:16 -04:00
matlabbe b3b0caa038 DbDriver: fixed save/load optimized mesh errors (0.17) 2018-04-05 10:15:06 -04:00
matlabbe db0e833ce9 Tango: fixed build 2018-04-05 09:44:14 -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 34b32f53f6 Merge pull request #273 from mlong-xii/patch-1 
Fix laserscan from depth
 2018-03-28 15:33:31 -04:00
matlabbe 99acc9a6e7 Windows: Reordered libraries with gtsam at the end (which is static on Windows) 2018-03-28 11:04:18 -04:00
matlabbe d886c788e7 Fixed CMake keeping old install version path when changing version 2018-03-27 15:50:27 -04:00
matlabbe d2f7d8a9c4 ExportDialog: Added OpenChisel meshing option 2018-03-26 18:06:41 -04:00
matlabbe 7143f693d2 Euroc tool: fixed build error when c++11 is not used #272 2018-03-26 11:13:06 -04:00
matlabbe 9cfdc00d64 Okvis: removed some compilation warnings when not built with okvis 2018-03-23 14:54:49 -04:00
matlabbe 4f6ab68318 Update README.md 2018-03-23 12:49:21 -04:00
matlabbe 7c6439e075 CameraStereoImages: removed warning telling to calibrate the camera when only pose calibration file is not found 2018-03-22 12:40:16 -04:00
matlabbe 420fecad51 Docker updated artful image. Memory: fixed 2x icp correspondence ratio error (>1.0) when creating registration for icp proximity detection 2018-03-22 11:22:47 -04:00
matlabbe ef017c9e9d Docker: updated artful build 2018-03-22 10:07:19 -04:00
matlabbe 00412749e7 IMU: changed members from Eigen to cv to avoid seg faults about Eigen memory alignment when copying IMU object created dynamically (#270) 2018-03-21 21:31:41 -04:00
matlabbe 4188da2ef2 Docker: updated xenial with freenect/openni2 dependencies 2018-03-21 16:36:18 -04:00
matlabbe 8d93c275ab Tango: fixed optimized mesh where nans were removed before saving (causing trouble with corresponding polygons) 2018-03-21 16:00:12 -04:00
matlabbe b0b3b491a0 Docker: added android/install_deps_host.bash. ExportClouds: default voxel size 0.02->0.01 2018-03-20 16:47:18 -04:00
matlabbe dd59d3c713 Tango: fixed MaxOptimizeError value that now is a factor. Docker: updated tango download links 2018-03-18 18:47:13 -04:00
matlabbe 548f0b6130 Fixed Android build 2018-03-18 16:00:03 -04:00
matlabbe f7e007018f fixed Windows build 2018-03-18 19:43:20 -04:00
matlabbe 436e82653c Parameters: updated default of Icp/CorrespondenceRatio and Icp/PMOutlierRatio. Fixed OptimizerG2O build with ORB_SLAM2. Fixed seg fault after restarting ORB_SLAM2 odometry. 2018-03-17 18:20:32 -04:00
matlabbe ecf598e412 util3d::laserScanFromPointCloud(...): ignore NaN points and normals. RegistrationIcp: ignoring NaNs on conversion to PD format to fix some registration fails caused by NaNs. 2018-03-13 02:27:59 -04:00
matlabbe 257fe20c4f OdometryF2F: fixed published localScanMap in wrong frame 2018-03-13 00:01:32 -04:00
matlabbe ba011169b8 DbViewer: don't modify ground truth values (previously they were aligned with root) 2018-03-12 20:57:34 -04:00
matlabbe ffe50dad22 When exporting poses, set txt extension by default if not set 2018-03-12 20:26:34 -04:00
matlabbe dc289ba635 DbViewer: when align with ground truth is enabled, exported poses are those aligned with ground truth 2018-03-12 18:51:55 -04:00
matlabbe 10724fac3b fixed opencv2/core.hpp not found 2018-03-07 20:55:10 -05:00
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 2fad881202 fixed a compilation warning 2018-02-23 17:55:31 -05:00
matlabbe 39b363d0b5 Memory: compute scan max range if not set on signature creation. 2018-02-23 15:52:59 -05:00
matlabbe 215eff3212 MainWindow: updated default 2d scan with normals color for map and odom 2018-02-23 11:13:26 -05:00
matlabbe e1a0fc42ea Rtabmap: added ebug info when proximity scan matching is disabled 2018-02-23 10:47:07 -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 c3ab04b436 Report: removed a test UERROR 2018-02-22 16:37:55 -05:00
matlabbe 918281a804 Rgbd_dataset: fixed Rtabmap/CreateIntermediateNodes not used 2018-02-22 12:09:03 -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
matlabbe 93e1d732c9 DbViewer: added option to align scans/clouds to ground truth for convenience 2018-02-21 15:13:02 -05:00
matlabbe 1bfde1f9f0 Neigbor refining can be done with any Registration approach. Memory::computeIcpTransformMulti(): correspondences ratio increased by two times to accept transform 2018-02-21 12:23:12 -05:00
matlabbe 489ab86ac7 dbviewer: fixed variance*100 for proximity by space links (multi-scan). 2018-02-21 10:08:48 -05:00
matlabbe e8f7746c87 dbviewer: removed voxel filtering from scan display 2018-02-21 08:38:35 -05:00
matlabbe db1139e89e Gui: fixed default color for scans from odom in MainWindow and constraint view in dbviewer. Recovery/reprocess: fixed triggering new map on covariance >=9999. Reg: repeatOnce not done if it has a child. Statistics: added time proximity by space visual info. 2018-02-20 17:33:48 -05:00
matlabbe 5c04ce257b DbViewer: can launch with a directory argument to set current workspace for convenience. 2018-02-19 16:37:17 -05:00
matlabbe 6cdb2a48fd OctoMap: improved projection performance 2018-02-19 16:25:55 -05:00
matlabbe 37cbf79b4c DbViewer: fixed occupancy grid color options. Reprocess: added grid total time including rtabmap stats 2018-02-18 21:32:19 -05:00
matlabbe 00559ce8d6 ground segmentaiton: adjusted cluster inlier with centroid below max height of biggest cluster 2018-02-18 15:30:20 -05:00
matlabbe 07244a8a73 Fixed occupancy grid created from PointNormal with RGB 2018-02-18 15:10:25 -05:00
matlabbe d181bedbfc Gui 3d rendering: added default color scheme option, added min and max range options for laser scans 2018-02-17 09:46:08 -05:00
matlabbe 077b3ab59e RegistrationIcp: Added laserScanToDP() 2018-02-17 07:48:10 -05:00
matlabbe edbed67afe Windows: added missing RTABMAP_EXP in LaserScan class. Memory: fixed wrong laser scan format set when filtering is enabled. 2018-02-16 20:56:48 -05:00
matlabbe a947f8c783 Fixed 2d multi-scan matching fatal error 2018-02-16 20:23:42 -05:00
matlabbe 6e131dcd7e fixed build on linux 2018-02-16 19:54:49 -05:00
matlabbe d24097f73d 0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...) 2018-02-16 19:20:54 -05:00
matlabbe bfb3a58c01 Optimizer: added optimizeIncremental() method to solve optimization error problems when re-opening the database (when graph should be re-optimized from raw odometry poses, not latest optimized poses, #172) 2018-02-13 18:18:42 -05:00
matlabbe 02a64a7fa3 Added ctrl-c handling to reprocess and recovery tools. 2018-02-13 16:54:31 -05:00
matlabbe 3dfe1ccb1a DbViewer: updated warning msg when graph optimization fails. 2018-02-13 14:14:08 -05:00
matlabbe c6e5f1c9f8 Fixed PCL extract indices filter workaround for PointNormal type (not defined in current released PCL). Compression: Fixed OpenCV memory leak when converting uncompressed depth image to 32F format. 2018-02-13 12:36:23 -05:00
matlabbe 4c0a612ab5 util3d_filtering: refactored implementations using templates. Parameters: Changed Grid/DepthMin|Max to Grid/RangeMin|Max, added Grid/PreVoxelFiltering, added GridBlobal/OctoMapOccupancyThr. OccupancyGrid: supporting input clouds already having normals. Memory: don't save working directory parameter to database. 2018-02-13 10:16:48 -05:00
matlabbe 09cae9cbd3 DbViewer: added color selectors for obstacle, ground and empty cells. 2018-02-12 11:32:17 -05:00
matlabbe 1595405871 DbSqlite3: fixed Feature.depth_[x,y,z] not saving correctly NaN values (then NaNs were wrongly converted to 0 on reload). Gui: Added stereo exposure compensation option in Source panel. 2018-02-11 16:07:26 -05:00
matlabbe 1c8c233ebf fixed compilation errors on octomap >=1.8 introduced by previous commit for octomap < 1.8 2018-02-09 11:02:01 -05:00
matlabbe c2d0628da1 Fixed compilation errors with octomap < 1.8 2018-02-09 10:53:39 -05:00
matlabbe 2e58fa3c2f Fixed OctoMap build error with version <1.8 2018-02-08 22:04:50 -05:00
matlabbe fced2c521c 0.16.0: Database updated with Data.empty_cells, Admin.opt_map, Admin.opt_map_x_min and Admin.opt_map_y_min fields. Changed Parameter Grid/ProjRayTracing to Grid/RayTracing (OctoMap ray tracing done for 3D local grids). Improved OctoMap performance. 2018-02-08 21:40:17 -05:00
matlabbe e7ceacc215 Fixed broken incremental prediction matrix from commit 977d21e 2018-02-07 18:16:19 -05:00
matlabbe a320eb5d8e ExportCloudsDialog: voxel size is now to 0.02 by default to limit the size of generated cloud (using too much RAM may result in a crash) 2018-02-06 11:34:54 -05:00
matlabbe 42199eefd2 Added --poses option to report tool. Reprocess tool: Export ground/obstacles when 3d map is created. 2018-02-06 11:31:39 -05:00
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 90ed9cd15c Added support for latest g2o code (with c++11 interface) 2018-02-03 15:43:32 -05:00
matlabbe 8ca3bca810 Fixed build error in rtabmap-reprocess without octomap. Fixed non c++11 build for BayesFilter. 2018-02-02 13:12:14 -05:00
matlabbe 5d2912baa1 Merge branch 'master' of github.com:introlab/rtabmap into devel 2018-02-02 11:47:54 -05:00
matlabbe 129ec29af5 Update .appveyor.yml 
Added devel branch
 2018-02-02 11:47:20 -05:00
matlabbe 70991cf173 fixed a compilation warning and updated usage of benchmarking tools 2018-02-02 08:51:38 -05:00
matlabbe 61199eff9c fixed CameraThread compilation error with OpenCV<3, added yaml-cpp dependency to travis 2018-02-02 08:35:06 -05:00
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