matlabbe
f20cb6ff52
Preferences: fixed map opacity limited to 0.75 min. Making sure that normalized variances are set to epsilon if result is 0.
2017-01-05 18:08:20 -05:00
matlabbe
716337b71a
normalize variance in loop closure
2017-01-05 17:22:49 -05:00
matlabbe
dfb965cfa9
Fixed bundler exportation not using local transform
2017-01-04 17:49:59 -05:00
matlabbe
ac1c5f81ae
fixed some compilation warnings
2017-01-03 22:14:21 -05:00
matlabbe
6abed48af6
0.11.13. OdometryF2M: fixed/improved bundle adjustment option. OptimizerG2O: now doing stereo BA instead of mono BA (interface of Optimizer::optimzeBA() has slightly changed to include depth in word references). Registration and Odometry set angular and linear variances separately. RegistrationVis set x100 smaller variance for rotation. Added keypoints3D member to SensorData. Added Transform::getAngle() for convenience. Odometry normalizes variances. RtabmapThread does variance summation when frames are discarded. Updated how variance is computed by util3d::estimateMotion3Dto2D(), ignoring very large variance from the computation (stereo issue with very far matched features). MainWindow: added option to align with ground truth or not (default true as before), added for odometry statistics (including bundle stuff), update ground truth statistics every time a graph is loaded/optimized. CameraRGB can now load odometry files (to fake an input odometry). PreferencesDialog: Added option to Odometry so it can use a different registration approach than the default one (the one used for loop closure). Parameters: added new g2o/Solver option 3 (Eigen), added g2o/RobustKernelDelta, g2o/Baseline and Odom/VisKeyFrameThr. Database: from 0.11.13, ignoring patch version when comparing is database version is newer than app version used.
2017-01-03 21:05:00 -05:00
matlabbe
6550a52cee
fixed #152
2016-12-05 15:53:19 -05:00
matlabbe
cd62e67011
Localization: Revert mapCorrection transform to one before being lost (when odom can be computed again)
2016-12-05 15:16:04 -05:00
matlabbe
e5524ddc1d
Tango: fixed black clouds. Rtabmap: only add latest optimized pose to graph if localized.
2016-12-05 13:27:29 -05:00
matlabbe
3c17049084
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
matlabbe
d2287ab9f4
Backward compatibility (DBViewer, DBReader) with old database format not saving CameraModel's image size, cx and cy
2016-12-02 13:43:44 -05:00
matlabbe
a5f4468c54
Fixed build warnings about variables not used in CameraRGBD and CameraStereo classes (depending on which sensor is available)
2016-12-02 12:29:38 -05:00
matlabbe
f2dbfa9b33
StereoCameraModel: baseline computed with Tx of left camera too. Fixed QMultiComboBox not showing on windows. Avoid updating grid view if there are no local grids in signatrues. Clear cached data of StatsItem when detecting smaller timestamp than last ones.
2016-12-01 21:46:09 -05:00
matlabbe
d0dddaf7cc
DbViewer: fixed bug where null links were added when added links doen't have enough inliers. g2o/Optimizer: changed back to Levenberg as GaussNewton seems worst on Kinect multi-session mapping
2016-12-01 11:59:49 -05:00
matlabbe
d879491a58
Fixed #149
2016-11-30 14:25:01 -05:00
matlabbe
4d585cbb11
Fixed bug where Grid/MaxObstacleHeight didn't work when the ground is not observable
2016-11-28 14:02:06 -05:00
matlabbe
3363772ce5
CloudViewer: added backface culling option on right-click menu. MainWindow: removed error msg on wrong decimation (util3d already handle this case)
2016-11-27 20:10:05 -05:00
matlabbe
1910cef3d1
g2o/Optimizer changed default to 1 (Gauss Newton)
2016-11-27 18:32:48 -05:00
matlabbe
121446d648
Removed parameter "OdomF2M/FixedMapPath". GUI: added odometry disabled option. Rtabmap can now localize even if odometry input is null (only in localization mode).
2016-11-27 14:30:11 -05:00
matlabbe
693f623e5e
Fixed GUI crash when using rectified RGB only (with odometry). Fixed empty local map when loading a fixed local map for OdometryF2M.
2016-11-25 19:52:34 -05:00
matlabbe
e65db3cba5
Tango: fixed localization mode not working
2016-11-25 15:20:42 -05:00
matlabbe
2a43a95ddd
flann serialize unordered_map compilation error ( #126 ): modified define name to avoid conflicts with the one defined in OpenCV
2016-11-23 17:36:38 -05:00
matlabbe
23bb5d5147
DBDriver: when an empty database url is provided, an empty database "in memory" is used by default. Tango: fixed second database not recorded in Data Recorder mode (now creating a new one on save). Mapping parameters are saved in database instead of the one used to record data (Data Recorder mode).
2016-11-23 15:13:09 -05:00
matlabbe
3d5699ef4a
Tango: fixed second database not saved when hitting Save two times consecutively
2016-11-21 18:13:56 -05:00
matlabbe
14908e3a11
rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded.
...
Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
2016-11-21 17:09:04 -05:00
matlabbe
ceb5c38ca3
util3d: find maximum decimation if the one set is not compatible (instead of returning an empty cloud)
2016-11-18 16:19:41 -05:00
matlabbe
f0d36e71a1
Memory: fixed missing parameters in database on close
2016-11-18 15:53:35 -05:00
matlabbe
a3afc249ef
Fixed old parameters ignored when reading config file from GUI
2016-11-17 16:08:55 -05:00
matlabbe
ed83d90603
RTAB-Map.exe can be started with parameters as arguments (in similar way than rtabmap-console)
2016-11-16 17:39:17 -05:00
matlabbe
8560baca87
Fixed fx=0 error when running multi-session databases
2016-11-16 12:28:33 -05:00
matlabbe
9276607920
Added Bundle Adjustment options to OdometryF2M (OdomF2M/BundleAdjustment) and RegistrationVis (Vis/BundleAdjustment). Added logger thread filter. RegistrationVis: Copy back corresponding input word IDs to output words when available. Memory::computeTransform() added option to use already computed corespondences if possible (proximity detection by time uses this). Updated Optimizer::optimizeBA() interface.
2016-11-14 19:54:31 -05:00
matlabbe
9fbd02b06d
fixed bug of wrong likelihood when KDTree is used with Kp/IncrementalFlann=false (maybe related to #144 )
2016-11-10 14:07:00 -05:00
matlabbe
edcd92fbb7
DBViewer: merged Refine (visual) and Refine (ICP) in the same Refine action (registration used is defined by Reg/Strategy value). Updated how detect more loop closures work in MainWindow and DBViewer (using current registration parameters, visual and/or icp)
2016-11-09 16:44:08 -05:00
Tomas
55ff45064f
Fix missing space in ostream << operator for Transform
2016-11-08 19:40:34 +02:00
Tomas
874e9dafc2
Fix bug with ostream operator>> for Transform
2016-11-07 14:42:01 +02:00
matlabbe
7fd3d9f331
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
matlabbe
c8d5a446ea
fixed Ubuntu build (Eigen error in util2d::fastBilateralFiltering)
2016-11-03 17:43:32 -04:00
matlabbe
fe19d277ac
Fixed OdomF2M ICP local scan transform bug (was not in 0.11.8)
2016-11-03 17:27:01 -04:00
matlabbe
a7971373a6
Added bilateral filtering option. CloudViewer: lighting and edge visibility options.
2016-11-03 17:04:31 -04:00
matlabbe
043e288d70
Fixed assert "((int)path.size() < = maxGraphDepth*2+1)" when Mem/ReduceGraph=On
2016-11-02 13:06:38 -04:00
matlabbe
8718bb4ff1
Fixed #137
2016-11-01 12:04:10 -04:00
matlabbe
276992d654
Fixed laser scans not saved when Mem/BinDataKept is false (they are still required for scan matching)
2016-10-31 14:29:32 -04:00
matlabbe
f07bb17442
Find/Link explicitly OpenCL libraries if Freenect2 is detected (moved in main CMakeLists.txt to be added to exported in RTABMapConfig.cmake)
2016-10-31 14:28:17 -04:00
matlabbe
e3c290269b
cloudFromDepthRGB: Don't assert if decimation is wrong, just throw error and return empty cloud
2016-10-31 11:10:16 -04:00
matlabbe
4bcb31e532
Refactored GainCompsensator for backward compatibility with PCL <1.7.2
2016-10-30 17:46:11 -04:00
matlabbe
768c864766
Image Decimation can now be negative, meaning that decimation is done from RGB size instead of depth. If Depth size is smaller than RGB, it may be upsampled depending on the decimation value. Export Dialog: Fixed MLS not done even when checked.
2016-10-30 16:03:23 -04:00
matlabbe
9e0b45e27a
Fixed "UNIQUE constraint failed: Statistics.id" error when loading a previous map with last id saved in Statistics not in Node table (this happened when ignored locations are not saved to database).
2016-10-29 18:12:27 -04:00
matlabbe
185f03985e
Refactored GainCompensator. Export Dialog: Added option to do full gain compensation with all locations.
2016-10-26 19:03:44 -04:00
matlabbe
d102c43f9a
ZED: Added self calibration option (default false)
2016-10-25 16:06:55 -04:00
matlabbe
4017db1d15
fixed #132
2016-10-21 16:54:32 -04:00
matlabbe
5a24bcfe51
GUI: added option to show octomap as a point cloud (less GPU power required)
2016-10-18 13:29:40 -04:00
