matlabbe
7acaac7a6d
g2o: fixed vertigo index when using landmarks. graphViewer: fixed outlier wrong set to some landmark links
2019-04-12 21:31:20 -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
fc9c762516
Added Optimizer/GravitySigma parameter (with GTSAM support).
2019-03-31 15:51:50 -04:00
matlabbe
45fa968076
fixed EdgeSE3XYZPrior not defined build error when using latest g2o version ( #360 #363 )
2019-03-03 15:27:32 -05:00
matlabbe
c85ff90477
fixed build with older gtsam versions
2019-01-29 19:06:28 -05:00
matlabbe
0c24786912
Fixed build with latest gtsam version (missing DerivedValue.h, https://github.com/introlab/rtabmap_ros/issues/290 )
2019-01-29 18:06:38 -05:00
matlabbe
95f48b694e
OptimizerGTSAM: fixed inverted landmark link transform on slam2d with rotation used
2019-01-15 17:58:23 -05:00
matlabbe
2a8e5be361
g2o: only check for variance >= 9999 as zero should never happen. For landmark, use SE3 or PointXYZ factor depending if angular covariance is set or not (>=9999). Same for gtsam (pose vs bearingRange factor respectively).
2019-01-06 17:00:39 -05:00
Nuno Marques
bf5d2b7f04
EdgeSE3XYZPrior: add ParamOffset ( #349 )
2019-01-04 12:45:30 -05:00
matlabbe
18c35954f0
g2o: fixed indigo build errors
2019-01-03 16:16:16 -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
TSC21
698293e2d8
OptimizedG2O: assotiate VertexSE3 instead of VertexPointXYZ to EdgeXYZPrior
2018-12-28 14:10:00 +00:00
TSC21
22d631d7aa
OptimizerG2O: fix landmarks vertex output types
2018-12-28 14:08:05 +00:00
TSC21
be75c7591c
OptimizerG2O: fix slam2d prior types naming
2018-12-28 13:38:12 +00:00
TSC21
c21f466573
OptimizerG2O: fix EDGE_XYZ / XY_PRIOR exports
2018-12-27 17:08:54 +00:00
TSC21
308b1484e0
OptimizerG2O: check inverse of the information matrix values
2018-12-27 15:58:25 +00:00
TSC21
cebecc3fc3
OptimizerG2O: add EDGE_XY_PRIOR and EDGE_XYZ_PRIOR to saveGraph
2018-12-27 13:22:15 +00:00
TSC21
81c4382349
OptimizerG2O: improve priors SE3/SE2 vs XYZ/XY logic
2018-12-27 12:48:24 +00:00
TSC21
b7f2eb8df9
OptimizerG2O: add XYZ/SE3 and XY/SE2 priors depending on the angular covariances
2018-12-26 16:30:40 +00:00
matlabbe
200ec8e5db
0.18.3: added landmarks (graph optimization, localization, navigation)
2018-12-07 18:29:41 -05:00
matlabbe
c14e20330f
Fixed SIFT octave issue causing registration to always fail. Added Bundler export points option.
2018-10-24 20:01:57 -04:00
matlabbe
8701ae6de0
Update OptimizerG2O.cpp
...
#323
2018-10-24 06:18:10 +12:00
matlabbe
d2c406f019
fixed build without g2o ( #323 )
2018-10-24 06:16:40 +12:00
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
0059a4bc1b
Camera refactoring ( #315 )
...
* Camera Refactoring part 1 (Mac OS X)
* fixed camera*** -> Camera***
* Fixed build for cameras Zed/RealSense/RealSense2
* increased version to 0.17.7
* fixed build for cameras K4W2 and FlyCapture2
2018-10-01 19:33:56 -04:00
