matlabbe
630b565cd4
reprocess: added double dash support for arguments for convenience. Rtabmap: fixed typo in localization verification by odom graph optimization.
2019-04-29 17:11:29 -04:00
matlabbe
a5350c4891
Optimizer: fixed bad g2o optimizations on 2d slam when there are 3D landmarks ( #384 ). DBViewer: landmarks can be now visualized.
2019-04-26 14:03:25 -04:00
matlabbe
428d5be129
fixed compilation warning
2019-04-12 19:27:12 -04:00
matlabbe
9b63297a6b
New parameter "RGBD/MaxOdomCacheSize" used in localization mode to reject similar locations (default disabled)
2019-04-05 19:37:40 -04:00
matlabbe
ae12caff04
rtabmap: Adjust transforms with gravity on localization mode if Optimizer/GravitySigma is not null
2019-04-05 16:58:57 -04:00
matlabbe
fc9c762516
Added Optimizer/GravitySigma parameter (with GTSAM support).
2019-03-31 15:51:50 -04:00
matlabbe
35933cafba
Rtabmap::setInitialPose() update optimized poses if empty
2019-03-27 22:07:06 -04:00
matlabbe
09ced82c9f
Rtabmap::triggerNewMap() now does nothing in localization mode to make sure optimized map doesn't get regenerated
2019-03-27 20:48:00 -04:00
matlabbe
8c92ed25e5
Rtabmap::detectMoreLoopClosures(): publish more progression messages for every loop closure found. rtabmap-detectMoreLoopClosures: we can do ctrl-c to interrupt the processing safely.
2019-03-27 15:39:46 -04:00
matlabbe
a0a566140c
rtabmap::computePath(pose) fixed fatal error when landmarks are in the graph
2019-03-14 17:16:51 -04:00
matlabbe
f1f0c39be8
Fixed localization done in 3d instead of 2d when Reg/Force3DoF was true
2019-03-08 17:31:05 -05:00
matlabbe
c272f9538a
Rtabmap/StartNewMapOnGoodSignature: start mapping if landmark is also detected. Rtabmap::detectMoreLoopClosures(): Fixed crash when landmarks are in optimized poses.
2019-02-28 20:33:16 -05:00
matlabbe
d6ca37a9e7
Integration of OpenCV's ArUco Marker Detection (see new parameter "RGBD/MarkerDetection")
2019-02-18 18:19:55 -05:00
matlabbe
1752b55678
Fixed bug with proximity detection (with combined scans) giving wrong transform sometimes if RGBD/ProximityPathFilteringRadius was used (default true). Fixed util3d::computeNormalsComplexity() when scan has intensity.
2019-02-07 11:19:55 -05:00
matlabbe
c8cd745f81
Rtabmap: On init, load also landmark optimzed poses
2019-02-04 18:23:09 -05:00
matlabbe
479fb6cbca
rtabmap: update lastLocalizationNodeId even when only a landmark is detected
2019-01-15 21:34:01 -05:00
matlabbe
0f8c70bcdf
g2o/gps support: added edge_se3_xyzprior.h to rtabmap repo. Fixed build for kinetic g2o version.
2019-01-03 15:49:25 -05:00
matlabbe
85f0ab829a
Rtabmap: updated logic of small displacement updates (RGBD/LinearUpdate=0 means always update)
2018-12-13 13:30:50 -05:00
matlabbe
73378c4d56
fixed compilation warning
2018-12-09 14:16:51 -05:00
matlabbe
986db04cb9
Rtabmap::computePath() make sure the closest pose of the current location is a node, not a landmark
2018-12-07 20:43:46 -05:00
matlabbe
200ec8e5db
0.18.3: added landmarks (graph optimization, localization, navigation)
2018-12-07 18:29:41 -05:00
matlabbe
283c1df00c
Fixed labels not correctly shown. Fixed planner not sending next goals when memory management is disabled.
2018-11-19 18:00:24 -05:00
matlabbe
015c442f1c
DetectMoreLoopClosures: update optimized poses and clear occupancy grid saved in database
2018-11-09 20:36:58 -05:00
matlabbe
8333677dc6
Improved/optimized Rtabmap timing performance for large datasets
2018-11-09 17:28:55 -05:00
matlabbe
09a63bbc5b
Rtabmap::detectorMoreLoopClosures() added intraSession and interSession parameters
2018-11-05 18:40:08 -05:00
matlabbe
4f1deef971
Proximity detection by space: sort nearest paths by likelihood values
2018-11-05 14:24:04 -05:00
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
d2abc3a237
Added parameter Rtabmap/LoopGPS (default true) to enabled/disable the use of GPS in likelihood computation
2018-10-22 14:39:30 -04:00
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
b5dec56eaf
Parameters: added RGBD/LoopCovLimited, refactored "detect more loop closures" in MainWindow/DBViewer/rtabmap
2018-10-01 20:22:20 -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
829f05e2fb
Implemented missing max angular optimization error check for RGBD/OptimizeMaxError
2018-09-18 22:34:15 -04:00
matlabbe
30290c36d7
Rtabmap: Added deleteLastLocation() and rejectLastLoopClosure() methods
2018-08-29 12:29:11 -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
e95cabb1fc
fixed optimization error ratio bug where comparison was done using not highest ratio link but on highest abs error link instead.
2018-07-20 15:11:46 -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
d41c15dbc7
Rtabmap::computePath() added tolerance parameter to overwrite default RGBD/LocalRadius
2018-07-09 15:11:19 -04:00
matlabbe
7424a1f463
When Mem/DepthAsMask is false, features without depth are triangulated using odometry. Added parameter RGBD/LocalBundleOnLoopClosure.
2018-06-01 16:26:09 -04:00
matlabbe
1914275fa8
0.17.2: compute marginals (covariance) on graph optimization
2018-05-30 15:35:08 -04:00
matlabbe
d34a529116
Added Rtabmap/StartNewMapOnGoodSignature parameter
2018-05-24 14:53:47 -04:00
matlabbe
d92debe356
rtabmap::triggerNewMap(): reverting commit d9716590b1 to clear optimized poses so that occupancy grid is cleared when triggering a new map. MapCorrection is kept not cleared to support Tango switching mapping<->localization mode without jumping.
2018-04-30 20:03:01 -04:00
matlabbe
8fec570c13
Added Rtabmap::setInitialPose()
2018-04-30 14:49:41 -04:00
matlabbe
63cc86bdcd
rtabmap: fixed optimization error seg fault when no maxLinearLink can be found
2018-04-27 19:42:30 -04:00
matlabbe
344dc165bc
fixed #276 and #277
2018-04-14 13:41:04 -04:00
matlabbe
d9716590b1
Rtabmap: don't reset mapCorrection transform when triggering a new map
2018-04-05 11:28:07 -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