matlabbe
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b5f5623af4
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CameraRealSense2: updated how stamping is done, updated default D435 frame resolution/fps
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2019-06-06 17:17:11 -04:00 |
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matlabbe
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e09a872fa2
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GUI: added word wrap to transform label in loop closure viewer. Memory: creating a RegistraitonVis for stereo from motion if memory's registration pipeline is not vis only.
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2019-06-02 14:59:11 -04:00 |
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matlabbe
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cdbdc36c94
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RegICP: Updated warning when complexity is too low. LoopClosureViewer: fixed scan transform.
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2019-06-02 12:38:09 -04:00 |
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matlabbe
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8cb923b332
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Reduced local bundle on loop closure iterations to 5. Updated graph::filterLinks() to handle selfRef link type. DbViewer: removed gravity constraints from constraints view.
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2019-06-01 21:43:13 -04:00 |
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matlabbe
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ec943198f0
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Rtabmap: re-optimize at each frame when gravity constraints are added
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2019-05-31 19:31:11 -04:00 |
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matlabbe
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4c8af6d6e9
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fix build errors with opencv2, added Transform::getClosestTransform() function for convenience.
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2019-05-31 16:51:37 -04:00 |
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matlabbe
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d5d00fbd7d
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merged master to imu_feature
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2019-05-31 15:39:49 -04:00 |
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matlabbe
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e887d462ce
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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.
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2019-05-31 15:36:35 -04:00 |
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matlabbe
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cd6e51a968
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fixed #401
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2019-05-30 10:04:40 -04:00 |
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matlabbe
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71f7515775
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Added resolution parameters for Usb camera and realsense2 sources
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2019-05-15 19:21:32 -04:00 |
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matlabbe
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f8a8e55e7e
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UI: Update preferences with the new imu filter parameters. Camera: added imu filtering option. Updated support for zedm, D435i and T265.
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2019-05-13 18:42:46 -04:00 |
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matlabbe
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cbca362cc4
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Added T265 odometry support
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2019-05-12 19:27:32 -04:00 |
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matlabbe
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750ad5bd44
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Fixed build error without realsense2
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2019-05-11 16:11:19 -04:00 |
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matlabbe
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d4b4379829
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Added T265 support (stereo-only yet)
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2019-05-09 19:20:26 -04:00 |
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matlabbe
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5b5b594f4a
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Fixed assert when Mem/DepthAsMash=false and Vis/MaxDepth or Vis/MinDepth are set
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2019-05-07 21:09:46 -04:00 |
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matlabbe
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e6f471d88e
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Added imu to odom bundle adjustment. Added IMUFilter classes. Changed Aruco parameter prefix to Marker. Zed: publishing IMU data.
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2019-05-07 18:57:53 -04:00 |
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matlabbe
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0fd69f22d4
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fixed a comment typo
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2019-05-04 15:03:09 -04:00 |
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matlabbe
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cc95ca1cf6
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Fixed dim assert with binary descriptors and fixed dictionary
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2019-05-04 14:58:02 -04:00 |
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matlabbe
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630b565cd4
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reprocess: added double dash support for arguments for convenience. Rtabmap: fixed typo in localization verification by odom graph optimization.
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2019-04-29 17:11:29 -04:00 |
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matlabbe
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125d532e95
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Added graph::calcRelativeErrors() and option --relative for report. Added skip frames option on rgbd_dataset tool.
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2019-04-27 20:39:40 -04:00 |
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matlabbe
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195f6147ad
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DBViewer: added feature/line color menu option. CameraImages/DBReader: added maxFrames parameter
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2019-04-26 19:20:35 -04:00 |
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matlabbe
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a5350c4891
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Optimizer: fixed bad g2o optimizations on 2d slam when there are 3D landmarks (#384). DBViewer: landmarks can be now visualized.
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2019-04-26 14:03:25 -04:00 |
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matlabbe
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f9b7b54454
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Dictionary: new bin descriptor to 32f conversion. RegVis: removed octave comparisons.
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2019-04-24 01:24:55 -04:00 |
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matlabbe
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1a71406f84
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Fixed Windows build (std::back_inserter not found)
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2019-04-23 16:15:50 -04:00 |
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matlabbe
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d4585960fc
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RegVis: fixed orboctree descriptor extractions. KeypointItem: fixed placeholder gray scale for yellow features.
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2019-04-22 19:50:41 -04:00 |
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matlabbe
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ef2c68d768
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Fixed build with opencv2
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2019-04-18 20:37:50 -04:00 |
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matlabbe
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a0f74eaee2
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Added new 2d feature ORB OcTree (approach used in ORB_SLAM2). report tool: fixed assert caused by bidirectional links. detectModeLoopClosures tool: check if input path exists.
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2019-04-18 19:50:58 -04:00 |
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matlabbe
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23602935e1
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Optimizer::getConnectedGraph() fixed poses created by propagating links (more robust to multi-session)
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2019-04-17 15:30:47 -04:00 |
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matlabbe
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7acaac7a6d
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g2o: fixed vertigo index when using landmarks. graphViewer: fixed outlier wrong set to some landmark links
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2019-04-12 21:31:20 -04:00 |
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matlabbe
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428d5be129
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fixed compilation warning
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2019-04-12 19:27:12 -04:00 |
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TouchDeeper
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2de553ba02
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fix the realsense release problem (#381)
Great! thx!
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2019-04-12 18:26:36 -04:00 |
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matlabbe
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77ae8e108a
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0.19.2: Refactored SensorData interface. DBReader: Fixed GPS not published. #345: both g2o and gtsam working with GPS. g2o: added gravity edges.
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2019-04-09 20:05:24 -04:00 |
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matlabbe
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e7b3a7735d
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Parameters.cpp: fixed build without VTK
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2019-04-05 20:51:57 -04:00 |
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matlabbe
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9b63297a6b
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New parameter "RGBD/MaxOdomCacheSize" used in localization mode to reject similar locations (default disabled)
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2019-04-05 19:37:40 -04:00 |
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matlabbe
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ae12caff04
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rtabmap: Adjust transforms with gravity on localization mode if Optimizer/GravitySigma is not null
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2019-04-05 16:58:57 -04:00 |
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matlabbe
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727e4fe672
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Updated --version info
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2019-04-02 14:07:54 -04:00 |
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matlabbe
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fc9c762516
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Added Optimizer/GravitySigma parameter (with GTSAM support).
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2019-03-31 15:51:50 -04:00 |
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matlabbe
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35933cafba
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Rtabmap::setInitialPose() update optimized poses if empty
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2019-03-27 22:07:06 -04:00 |
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matlabbe
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09ced82c9f
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Rtabmap::triggerNewMap() now does nothing in localization mode to make sure optimized map doesn't get regenerated
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2019-03-27 20:48:00 -04:00 |
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matlabbe
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8c92ed25e5
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Rtabmap::detectMoreLoopClosures(): publish more progression messages for every loop closure found. rtabmap-detectMoreLoopClosures: we can do ctrl-c to interrupt the processing safely.
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2019-03-27 15:39:46 -04:00 |
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matlabbe
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7cd7ce3b41
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Odom/GuessSmoothingDelay changed default to 0 (tum long_office_household rosbag orientation issue on the teddybear)
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2019-03-21 11:49:44 -04:00 |
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matlabbe
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6f4dce52fc
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OdometryOkvis: return pose only after processing measurements (images)
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2019-03-20 22:10:15 -04:00 |
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matlabbe
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3cafdf911b
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Docker: added new "latest" version of jfr2018 image (including VINS and latest rtabmap version). Updated jfr2018 scripts to easily switch to host installed rtabmap instead of docker
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2019-03-20 19:36:56 -04:00 |
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matlabbe
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24a4d91ee8
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OdometryOKVIS: added warning if config file doesn't exist, also replace ~ by home directory for convenience
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2019-03-20 13:10:14 -04:00 |
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matlabbe
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e8e3649f24
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Grid/OctoMap: updated update() interface to return boolean to know if the map has been updated
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2019-03-19 14:10:30 -04:00 |
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matlabbe
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c0a7c3a344
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0.19.1: Added OdometryVINS (VINS-Fusion integration, Odom/Strategy=9)
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2019-03-18 20:45:34 -04:00 |
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matlabbe
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c8db45b2a4
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reverted 977f8eb262 (was not the problem...)
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2019-03-14 19:06:32 -04:00 |
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matlabbe
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a0a566140c
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rtabmap::computePath(pose) fixed fatal error when landmarks are in the graph
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2019-03-14 17:16:51 -04:00 |
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matlabbe
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977f8eb262
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OdometryF2M: fixed orientation ignored when setting initial pose for scans
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2019-03-14 14:15:53 -04:00 |
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matlabbe
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f1f0c39be8
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Fixed localization done in 3d instead of 2d when Reg/Force3DoF was true
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2019-03-08 17:31:05 -05:00 |
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