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554 Commits
Author SHA1 Message Date
matlabbe bb0b12be27 Updated not incremental dictionary approach for save/reload (can set a database path as dictionary for convenience) 2018-05-08 18:50:39 -04:00
matlabbe bfce5cceb5 Fixed #275. Removed Grid/Scan2dMaxFilledRange parameter (use Grid/RangeMax instead). 2018-04-14 16:48:29 -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 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 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 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 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 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 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 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 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 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 10c5cb3721 GUI: Added missing Rtabmap/ComputeRMSE parameter 2017-11-10 16:03:25 -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 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 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 f6315e48d0 CameraFreenect2: added pipelineName parameter 2017-10-11 12:50:57 -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 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 b2fb7d5d5b Supporting g2o from ORB_SLAM2 2017-09-17 13:28:25 -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 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
matlabbe f7872d346b libpointmatcher integration 2017-08-22 16:20:49 -04:00
matlabbe 1e335e53ba OdometryEvent: fixed velocity() returning always empty. Export: added options to filter blurred cameras based on laplacian threshold or velocity (#225). 2017-08-07 16:31:49 -04:00
matlabbe f3e491f15b Added KAZE feature detector (OpenCV3) 2017-07-25 16:20:05 -04:00
matlabbe 9e011d6ad9 Fixed changing local transform not handled correctly when changing for third party odometries 2017-07-07 19:41:11 -04:00
matlabbe f9ed36ed54 Parameters: renamed Rtabmap/VhStrategy to VhEp/Enabled 2017-07-05 13:38:27 -04:00
matlabbe c4ca6a0bac Integrated ORB_SLAM2 as an odometry approach Odom/Strategy=5. 2017-06-05 19:04:23 -04:00
matlabbe 4f26e34717 Integrated DVO odometry approach 2017-05-31 20:57:24 -04:00
matlabbe 21e716b08a Updated default Vis/EstimationType=1 (PnP). Added all fovis and viso2 parameters. 2017-05-30 18:29:49 -04:00
matlabbe f6e21bd6c8 Integration of viso2 odometry approach. 2017-05-30 14:03:46 -04:00
matlabbe d795bea543 fixed #201 2017-05-25 14:48:39 -04:00
matlabbe 385b7e3389 Parameters: Added "Reg/VarianceNormalized". Registration: Transforms are now only normalized in Registration. Added rgbd_dataset tool. MainWindow: odom inliers-only shown option. ExportCloudsDialog: ignoring intermediate nodes for texturing (if they don't have data). DatabaseViewer: "optimized" checkbox enabled in Constraints view for non-neighbor links too. 2017-05-22 11:48:01 -04:00
matlabbe 58e6424bf7 Export Clouds: export scans integrated in the same dialog (remove export scans dialog) 2017-05-11 15:02:18 -04:00
matlabbe 104c1e6945 0.13.0 Database: Added velocity field to Node table, renamed Map_Node_Word table to Feature, added information_matrix field to Link table (replacing rot_variance and trans_variance). Added graph::calcKittiSequenceErrors().Added "Mem/IntermediateNodeDataKept" parameter (default false). Updated all interfaces using rotVariance and transVariance values with covariance matrix instead. g2o SBA: always use covariance in links. kitti-dataset tool: added --disp option and kitti statistics are shown at the end. StatsToolBox: units can have "/". 2017-05-11 15:02:18 -04:00
matlabbe 14baca125d cloudFromDisparity(): adjusting decimation if not valid with current image size. Standalone: ask user to set other parameters to default if some were set on command line. 2017-04-28 11:43:27 -04:00
matlabbe 13425e1ad4 3D Rendering: Added floor/ceiling filtering and normal estimation for scans 2017-04-24 19:12:53 -04:00
matlabbe 4e3216a75d SourceRGB: added rectify option for all types (including usb camera) 2017-04-24 14:11:38 -04:00
matlabbe 559e65a4e1 disabled label realsense odometry when not built with realsense slam 2017-04-21 22:35:45 -04:00
matlabbe bc2da10713 RealSense driver: added odometry option (ZR300) 2017-04-21 21:24:23 -04:00
matlabbe 42fb02c36f zed 2.0: fixed sensing mode order, fixed conversion from zed pose to transform (when zed odometry is enabled) 2017-04-18 20:16:04 -04:00
matlabbe 6f148c47e2 0.12.15 Parameters: added "GridGlobal" parameter group, fixed https://github.com/introlab/rtabmap_ros/issues/162 2017-04-10 16:59:48 -04:00
matlabbe b7dbf27931 Parameters: added Grid/FullUpdate (default true). Updated how occupancy grid is updated after loop closure. OctoMap: added tree depth argument when creating 2d map, added full update argument on constructor (default false). MainWindow: using OccupancyGrid object instead of keeping in cache local grids (we can have actual time to update the global grid). 2017-04-07 18:31:11 -04:00
matlabbe 1d8952867d MainWindow: added timing stats on global map creation. Updated util3d::occupancy2DFromLaserScan() and util3d::create2DMap() interfaces (hit/noHit scans in opencv matrix format). Parameter default: Grid/ProjRayTracing=true, Grid/NormalK=true 2017-04-06 12:27:12 -04:00
matlabbe 767b29d5a3 Updated detect more loop closures with optimization check to accept (like in dbviewer). DBViewer: added Depth image edition dialog. GainCompensator: now doing it on 3 channels separatly. Export: removed gain's alpha option, added max polygons option, added brightness/contrast auto balance option 2017-03-31 18:56:52 -04:00