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2,292 Commits 29 Branches 163 Tags
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1039 Commits

Author SHA1 Message Date
matlabbe
3bc8fc4c11 Integrated GPS into likelihood computation 2018-10-22 12:31:07 -04:00
matlabbe
4c7b565391 Refactored Optimizer::getConnectedGraph() to estimate poses based on links, we can then remove Optimizer::optimizeMultiSession(). Rtabmap: if poses and guess are not the same before optimization, do Optimizer::getConnectedGraph() to get pose estimates based on links instead of odom (to make optimization more robust to memory management and multi-session). 2018-10-16 18:55:36 -04:00
matlabbe
f1546c1fca Replaced all optimizeIncremental() by optimizeMultiSession() to fix GTSAM errors when merging multiple maps together. DBReader: always publish saved stamp. DBViewer: added actions to set covariance of all neighbor or loop closure links. 2018-10-15 17:07:18 -04:00
matlabbe
b2c012d8bc Updated g2o and toro saveGraph() to use Optimizer's parameters (#320, #319) 2018-10-15 13:41:44 -04:00
Nuno Marques
42c60c7154 OptmizerG2O: add prior edge export (#319) 
* OptmizerG2O: add prior edge export

* add required conditions and structure to export prior edges

* for now, make the graph exportation of priors not dependent of parameters

* include <locale.h> so to use setlocale() in a windows build
 2018-10-15 11:58:57 -04:00
matlabbe
b717910db8 Fixed QMutex still locked on exit warning. Removing old parameters from ini file on saving. Memory: Removed completely the use of Vis/CorType (only used by F2F odom). 2018-10-04 17:09:03 -04:00
matlabbe
16309e6d18 Added StereoSGBM (fixed #77) (#318) 
* Added StereoSGBM class

* fixed StereoSGBM build for OpenCV2
 2018-10-04 16:10:16 -04:00
matlabbe
a1079761e7 fixed #317 2018-10-04 11:06:47 -04:00
matlabbe
b5dec56eaf Parameters: added RGBD/LoopCovLimited, refactored "detect more loop closures" in MainWindow/DBViewer/rtabmap 2018-10-01 20:22:20 -04:00
matlabbe
0059a4bc1b Camera refactoring (#315) 
* Camera Refactoring part 1 (Mac OS X)

* fixed camera*** -> Camera***

* Fixed build for cameras Zed/RealSense/RealSense2

* increased version to 0.17.7

* fixed build for cameras K4W2 and FlyCapture2
 2018-10-01 19:33:56 -04:00
matlabbe
8b055752aa RegistrationIcp: Fixed invalid variance set when structural complexity is low and input doesn't have normals. DBViewer: added check on angular error after optimizing the graph when adding a new constraint. Memory: added warning if odom angular variance detected is very high. 2018-09-28 22:02:07 -04:00
matlabbe
95e87fed14 MLS: added output voxel size parameter 2018-09-28 09:45:43 -04:00
matlabbe
5e08da51aa RealSense: fixed color rectification. Fixed ZR300 odometry frame. 2018-09-26 20:51:12 -04:00
matlabbe
b581a62c89 Fixed build with opencv < 2.4.10 for missing fisheye model 2018-09-24 15:09:12 -04:00
matlabbe
c341648a44 Added parameter "Rtabmap/RectifyOnlyFeatures". Added support of fisheye distortion model. 2018-09-24 14:36:54 -04:00
matlabbe
f903ffb927 Fixed regression errors for OpencV2 (#309) 2018-09-18 23:03:40 -04:00
matlabbe
124543c57d Fixed compilation errors with OpenCV 4.0.0 (#309) 2018-09-18 22:43:18 -04:00
matlabbe
0cf37fbbf1 Added D415 icon 2018-09-15 11:37:02 -04:00
matlabbe
956f07785b Fixed build error (vtk version issue) 2018-08-28 17:29:20 -04:00
matlabbe
3e6f14f3bd CloudViewer: added camera Ortho mode context menu option 2018-08-28 17:07:36 -04:00
matlabbe
7cb39f02f2 CloudViewer: Reduced interactor motion from 10 to 5 2018-08-28 11:49:32 -04:00
matlabbe
f498cf1b1a CloudViewer: added getColor(id) and setColor(id) to change color of an actor 2018-08-25 11:41:28 -04:00
matlabbe
c0a2efe7e2 Fixed build with PCL <1.7.2 2018-08-24 16:17:30 -04:00
matlabbe
080d044c99 CloudViewer: added setInteractorLayer() function 2018-08-24 15:27:42 -04:00
matlabbe
cbf14bfa08 CloudViewer: set minimum ambiant light of 0.5 for all meshes 2018-08-23 16:18:04 -04:00
matlabbe
110f4a99ee CloudViewer: added addOrUpdateQuad() function 2018-08-23 11:59:24 -04:00
matlabbe
63af05ef88 CloudViewer: refactoring + added CloudViewerCellPicker class to ignore picking backfaces (when backface culling is on) 2018-08-21 16:11:05 -04:00
matlabbe
0c790005b2 ImageView: colormap not updated if depth cv image is not set 2018-08-17 15:30:13 -04:00
matlabbe
3ce6de573d ImageView: added depth colormap menu option 2018-08-17 15:28:23 -04:00
matlabbe
67aa4cd28e DbViewer: added decimation parameter for cloud visualization. ImageView: adding scaling to height menu option. 2018-08-17 14:01:11 -04:00
matlabbe
9e13d5600a GUI: Fixed ProbMiss assert when resetting value to default 2018-08-16 16:51:29 -04:00
matlabbe
35d5200a3b Parameters in group GridGlobal: renamed OctoMapOccupancyThr to OccupancyThr, added ProbHit, ProbMiss, ProbClampingMin, ProbClampingMax. Using logodds approach from OctoMap to evaluate occupancy of standard grid map. ref https://github.com/introlab/rtabmap_ros/issues/269 2018-08-16 14:42:05 -04:00
matlabbe
e0858a9c2a GraphView: added orientation visualization on nodes 2018-08-16 11:21:25 -04:00
matlabbe
714d95cc34 Removing redundant non null check before deleting a ptr in destructors #301 2018-08-09 15:53:47 -04:00
matlabbe
5e60a2596c DbViewer: show full covariance in Constraints View 2018-08-09 15:20:19 -04:00
matlabbe
d5128ddc18 Added parameter Mem/CovOffDiagIgnored (default true) 2018-08-05 12:51:50 -04:00
matlabbe
f938e8ce29 Calibration dialog: updated some tooltips 2018-08-03 14:49:39 -04:00
matlabbe
4d5b42ab79 rtabmap: parameters passed by arguments override those in the database loaded from command line. Dictionary: set words saved to avoid saving them in database (causing db error when remapping from an old db created by fixed dictionary). G2O: ba supporting words with negative ids. 2018-07-27 16:01:17 -04:00
matlabbe
b63590bf1d Memory: Fixed features with no id (-1) ignored for triangulation from motion. Dictionary: matching with negative word ids is now allowed 2018-07-26 20:41:54 -04:00
matlabbe
cfdee23d33 Statistics: added variance info of the loop closure/localization. GUI: Graph view option to show nodes on which loop closures/localizations happened 2018-07-26 14:40:16 -04:00
matlabbe
60499e895f Updated About dialog 2018-07-24 17:11:27 -04:00
matlabbe
173bd49a26 Handling intial odometry pose in all odometry approaches. For VIO approaches, gravity initialization is handled too. (#298) 2018-07-19 14:10:36 -04:00
matlabbe
9ae47b79f9 Working MSCKF 2018-07-18 16:15:41 -04:00
matlabbe
15e09cd0a8 Devel: new feature msckf_vio 2018-07-14 20:40:44 -04:00
matlabbe
41d5e11511 Preferences: updated a description text 2018-07-09 12:01:31 -04:00
matlabbe
c8100e1464 Gui: show graph color based on visual features 2018-07-09 11:33:39 -04:00
matlabbe
675da6201a Added OdomLOAM/LocalMapping parameter 2018-06-28 11:30:21 -04:00
matlabbe
d447329bf1 Added LOAM (loam_velodyne) odometry support 2018-06-28 11:10:46 -04:00
matlabbe
973bf93c77 RealSense: added depthScaledToRGBSize option to be able to feed ORB_SLAM2 with depth and RGB images with same size #287. 2018-06-19 13:53:03 -04:00
matlabbe
502d5e75e8 CameraRealSense2: added IR-Depth mode option 2018-06-15 14:35:54 -04:00