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2,428 Commits 30 Branches 168 Tags
69a2aacc8e3583b06c4a28b34ceffb3a2399e127
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135 Commits
Author SHA1 Message Date
matlabbe 69a2aacc8e Parameters: added SIFT/RootSIFT parameter. 2020-05-21 17:09:20 -04:00
matlabbe c19da22ca4 0.20: added GlobalDescriptor table in database 2020-05-03 21:46:25 -04:00
matlabbe 5d16ae8cfe DBViewer: fixed calibration not found on refining without re-extracting features, fixed visualized ids switched on refine in some cases, fixed clouds not shown in constraints view after refine without re-extracting features 2020-04-30 14:17:46 -04:00
matlabbe 00d8375a2e RGBD/SavedLocalizationIgnored: if true, it is now starting at the origin (0,0,0) instead of null (not linked to graph). 2020-04-23 11:57:01 -04:00
matlabbe c0313a6d09 GUI/Source: color only option now also available for stereo cameras (meaning only left frame published). Db: fixed non-valid 3d words saved when no ones were in the signature (on loading, we don't set words3 if they are all null). 2020-04-08 20:00:41 -04:00
matlabbe 7e8e80db2c Fixed map_id not starting at 0 when empty 2020-04-08 17:02:44 -04:00
matlabbe cdff33b1c2 Added Mem/LocalizationDataSaved parameter 2020-04-05 19:21:20 -04:00
matlabbe 5fef44ec2b DBViewer: Added option to crop empty space from local grid and scans after 2d occupancy grid is manually edited 2020-02-13 17:32:39 -05:00
matlabbe c437375f08 Localization: Fixed local map cleared when gravity links are added and no localization happened. Fixed "Word not found" error on initialization when Mem/InitWMWithAllNodes is true. 2019-09-19 15:23:18 -04:00
matlabbe e887d462ce Memory: Added parameter Mem/UseOdomGravity, adding kGravity links when creating a node if IMU is present or Mem/UseOdomGravity is set. Fixed OpenCV4 related build errors on stereo fisheye rectification code. Signature: changed links from map to multimap to support having multiple self references (prior, gravity constraints...). DBReader: publish IMU orientation if a gravity link is detected. 2019-05-31 15:36:35 -04:00
matlabbe 77ae8e108a 0.19.2: Refactored SensorData interface. DBReader: Fixed GPS not published. #345: both g2o and gtsam working with GPS. g2o: added gravity edges. 2019-04-09 20:05:24 -04:00
matlabbe 73004c643c DbViewer: In graph view, nodes in latest working memory state are highlighted in red 2018-12-13 13:24:57 -05:00
matlabbe 200ec8e5db 0.18.3: added landmarks (graph optimization, localization, navigation) 2018-12-07 18:29:41 -05:00
matlabbe bf2a9db5e4 Fixed memory usage for grid and statistics 2018-11-15 20:52:53 -05:00
matlabbe 8333677dc6 Improved/optimized Rtabmap timing performance for large datasets 2018-11-09 17:28:55 -05:00
matlabbe 299bec15ff DBReader: publish global pose if prior link is detected, negative image rate means now a ratio of the database stamps 2018-10-24 09:26:41 +12:00
matlabbe 8e99291e13 0.18: Camera calibration and LaserScan Info refactoring (#324) 
* Saving full camera calibration in database, added angle min/max/inc to LaserScan.

* Updated laserscan info save/load in db

* Database: added Tag table, added env_sensors field to Node

* fixed serialization/deserialization of stereo camera model

* fixed multi-calibration db saving

* fixed rebase errors

* Tango: Added saving environmental sensors option

* Memory: Save env sensors

* Tango: fixed env sensor ids

* DBViewer: show env sensors values

* DBViewer: added calibration details on tooltip

* increased package version to 0.18.0

* Fixed LaserScan copies when angleIncrement is valid

* fixed build error without OctoMap dependency
 2018-10-23 14:35:14 -04:00
matlabbe 43e144e7b6 CMake: using external sqlite3 is available, otherwise use internal copy. 2018-09-05 14:22:34 -04:00
matlabbe c105804572 Moved DBDriverSqlite3.h to installed headers (changed some members from private to protected for easier inheritance) 2018-08-27 16:54:23 -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 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 b2db31ff18 Fixed backward compatibility error when saving statistics to db 2018-04-27 18:48:10 -04:00
matlabbe b3b0caa038 DbDriver: fixed save/load optimized mesh errors (0.17) 2018-04-05 10:15:06 -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 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 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 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 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 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 3405e8b8e1 Merge branch 'master' of https://github.com/introlab/rtabmap into devel 2018-02-01 22:19:34 -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 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 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 bfbabc62c4 Tango: Localization mode can be used in visualization 2017-10-12 15:54:16 -04:00
matlabbe 007d23308a Tango: updated how memory used and database size are computed 2017-10-09 18:04:54 -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
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 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 0491125e92 fixed voxelize assertion with c++ rgbd mapping example 2017-07-26 16:00:02 -04:00
matlabbe ebada30984 Tango: updated UI 2017-06-28 13:59:20 -04:00
matlabbe ee8d48a915 Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat. 2017-06-20 17:29:06 -04:00
matlabbe ff6e42fa6d DbViewer: added more info about size of all tables in database 2017-06-06 18:22:19 -04:00
matlabbe 7f8ca64f64 DbViewer: added frame selection when exporting poses. DBDriver: added getLaserScanInfo(). 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 1b71a96a3d Added rtabmap-kitti_dataset tool 2017-04-24 12:17:18 -04:00
matlabbe 732223e832 Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option 2017-04-18 17:30:14 -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