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
977d21eed5
Update 0.15.4.
...
Parameters:
-Added "GridGlobal/MaxNodes=0", "Rtabmap/PublishRAMUsage=false", "Mem/DepthAsMask=true", "Kp/FlannRebalancingFactor=2.0", "Vis/DepthAsMask=true".
-Modified "Kp/DetectorStrategy=6", "Kp/MaxFeatures=500", "Mem/UseOdomFeatures=true", "GFTT/QualityLevel=0.001", "GFTT/MinDistance=3", "RGBD/OptimizeMaxError=1", "RGBD/ProximityPathFilteringRadius=1", "Odom/GuessMotion=true", "Odom/VisKeyFrameThr=150", "OdomF2M/BundleAdjustment=1", "Vis/Iterations=300" if built with g2o, "OdomF2M/BundleAdjustmentMaxFrames=10", "OdomFovis/MinFeaturesForEstimate=20", "OdomORBSLAM2/MapSize=3000", "Reg/RepeatOnce=true", "Vis/PnPRefineIterations=0" if built with g2o, "Vis/CorGuessMatchToProjection=true", "Vis/BundleAdjustment=1" if built with g2o, "Icp/MaxCorrespondenceDistance=0.1", "Icp/PointToPlaneK=5", "Icp/PointToPlaneRadius=1", "Icp/PM=true" if built with libpointmatcher, "Stereo/MaxLevel=5", "Stereo/MinDisparity=0.5".
BayesFilter: optimized prediction matrix update. Use of new argument "ignoreLocalSpaceLoopIds" of Memory::getNeighborsId() to ignore loop closure link by space in prediction update.
CameraThread: Added stereo exposure compensation option.
CameraRGB: Added forceGroundNormalsUp option and added support of ground truth from EuRoC dataset.
Statistics: Added "Memory/RAM_usage/MB".
Transform: Added clone() method to do deep copy.
Graph::importPoses(): EuRoC format support (9).
Rtabmap: Local visual loop closures are now identified as GlobalClosure link type.
OccupancyGrid/OctoMap: updated how cache is used (old node retrieved can be re-added to map without re-assembling the whole map).
OdometryF2F: when using ICP, increasing correspondence distance for first two frames. If Vis/CorType=1 and registration fails, second guess without motion is done with Vis/CorType=0.
OdometryF2M/RegVis: updated how features are removed from the map, using new projectedIDs filled in RegistrationInfo by RegistrationVis.
OdometryORBSLAM2: Maximum size of the feature map can be set with "OdomORBSLAM2/MapSize" parameter.
CloudViewer: fixed opengl camera drifting in follow mode.
DatabaseViewer: Added optimization scale option. ConstraintsView: hide loop closure links if type is ignored in gui parameters.
MainWindow: Support of "GridGlobal/MaxNodes" parameters when updating the maps.
UPlot: don't show ellipses when not in graphics view mode, updated how "random" colors are attributed to curves
Added rtabmap-euroc_dataset tool. Updated rtabmap-kitti_dataset and rtabmap-rgbd_dataset tools.
Added rtabmap-reprocess tool.
2018-02-01 22:17:46 -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
10c5cb3721
GUI: Added missing Rtabmap/ComputeRMSE parameter
2017-11-10 16:03:25 -05:00
matlabbe
8cdd138143
CameraK4W2: added depth to color registration. For CameraFreenect2, kTypeColor2DepthSD is now used by default.
2017-11-06 22:59:12 -05:00
matlabbe
7dabfdc207
Added CameraK4W2 (Kinect for Windows SDK v2 driver)
2017-11-06 00:19:12 -05:00
matlabbe
d4982a8f24
CameraOpenni2: added ir/depth shift parameter
2017-10-25 15:11:26 +02:00
matlabbe
de5f3657ab
PreferencesDialog: added virtual getDefaultWorkingDirectory() for convenience (can be changed in inherited class)
2017-10-25 10:56:43 +02:00
matlabbe
e40a7d6681
0.14.3: exposed all gui widgets to public API. CloudViewer: fixed camera orientation reset
2017-10-20 12:09:34 +02:00
matlabbe
f6315e48d0
CameraFreenect2: added pipelineName parameter
2017-10-11 12:50:57 -04:00
matlabbe
1220eab47a
Added RGBD/LinearSpeedUpdate and RGBD/AngularSpeedUpdate parameters
2017-09-28 13:34:55 -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
fd18c0b2e9
Added Mem/LaserScanVoxelSize and OdomF2M/ScanSubtractAngle parameters. util3d::computeNormalsComplexity() now returns PCA's eigen vectors and values optionally. RegistrationIcp: detecting complexity of environment when PointToPLane is used, if too low, PointToPoint is done and movements are limited to main direction of the normals.
2017-09-19 14:15:17 -04:00
matlabbe
b2fb7d5d5b
Supporting g2o from ORB_SLAM2
2017-09-17 13:28:25 -04:00
matlabbe
aca005c287
Added parameter "IcpPointToPlaneMaxComplexity". Added util3d::computeNormalsComplexity(). OdomInfo has now RegistrationInfo field to avoid duplicating members.
2017-09-11 13:17:53 -04:00
matlabbe
380fc2cbde
PreferencesDialog: Fixed odom stack widget index always set to ORB-SLAM2 on loading
2017-09-06 11:01:39 -04:00
matlabbe
52a4e8964f
0.13.3: scan2d with normals support/registration
2017-08-28 16:40:07 -04:00
matlabbe
317aa3b6ed
Parameters: added Icp/PMOutlierRatio for convenience
2017-08-23 12:22:58 -04:00
matlabbe
f7872d346b
libpointmatcher integration
2017-08-22 16:20:49 -04:00
matlabbe
1e335e53ba
OdometryEvent: fixed velocity() returning always empty. Export: added options to filter blurred cameras based on laplacian threshold or velocity ( #225 ).
2017-08-07 16:31:49 -04:00
matlabbe
f3e491f15b
Added KAZE feature detector (OpenCV3)
2017-07-25 16:20:05 -04:00
matlabbe
9e011d6ad9
Fixed changing local transform not handled correctly when changing for third party odometries
2017-07-07 19:41:11 -04:00
matlabbe
f9ed36ed54
Parameters: renamed Rtabmap/VhStrategy to VhEp/Enabled
2017-07-05 13:38:27 -04:00
matlabbe
c4ca6a0bac
Integrated ORB_SLAM2 as an odometry approach Odom/Strategy=5.
2017-06-05 19:04:23 -04:00
matlabbe
4f26e34717
Integrated DVO odometry approach
2017-05-31 20:57:24 -04:00
matlabbe
21e716b08a
Updated default Vis/EstimationType=1 (PnP). Added all fovis and viso2 parameters.
2017-05-30 18:29:49 -04:00
matlabbe
f6e21bd6c8
Integration of viso2 odometry approach.
2017-05-30 14:03:46 -04:00
matlabbe
d795bea543
fixed #201
2017-05-25 14:48:39 -04:00
matlabbe
385b7e3389
Parameters: Added "Reg/VarianceNormalized". Registration: Transforms are now only normalized in Registration. Added rgbd_dataset tool. MainWindow: odom inliers-only shown option. ExportCloudsDialog: ignoring intermediate nodes for texturing (if they don't have data). DatabaseViewer: "optimized" checkbox enabled in Constraints view for non-neighbor links too.
2017-05-22 11:48:01 -04:00
matlabbe
58e6424bf7
Export Clouds: export scans integrated in the same dialog (remove export scans dialog)
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
14baca125d
cloudFromDisparity(): adjusting decimation if not valid with current image size. Standalone: ask user to set other parameters to default if some were set on command line.
2017-04-28 11:43:27 -04:00
matlabbe
13425e1ad4
3D Rendering: Added floor/ceiling filtering and normal estimation for scans
2017-04-24 19:12:53 -04:00
matlabbe
4e3216a75d
SourceRGB: added rectify option for all types (including usb camera)
2017-04-24 14:11:38 -04:00
matlabbe
559e65a4e1
disabled label realsense odometry when not built with realsense slam
2017-04-21 22:35:45 -04:00
matlabbe
bc2da10713
RealSense driver: added odometry option (ZR300)
2017-04-21 21:24:23 -04:00
matlabbe
42fb02c36f
zed 2.0: fixed sensing mode order, fixed conversion from zed pose to transform (when zed odometry is enabled)
2017-04-18 20:16:04 -04:00
matlabbe
6f148c47e2
0.12.15 Parameters: added "GridGlobal" parameter group, fixed https://github.com/introlab/rtabmap_ros/issues/162
2017-04-10 16:59:48 -04:00
matlabbe
b7dbf27931
Parameters: added Grid/FullUpdate (default true). Updated how occupancy grid is updated after loop closure. OctoMap: added tree depth argument when creating 2d map, added full update argument on constructor (default false). MainWindow: using OccupancyGrid object instead of keeping in cache local grids (we can have actual time to update the global grid).
2017-04-07 18:31:11 -04:00
matlabbe
1d8952867d
MainWindow: added timing stats on global map creation. Updated util3d::occupancy2DFromLaserScan() and util3d::create2DMap() interfaces (hit/noHit scans in opencv matrix format). Parameter default: Grid/ProjRayTracing=true, Grid/NormalK=true
2017-04-06 12:27:12 -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
matlabbe
a928a0b404
Moved create occupancy grid parameter to Ocupancy Grid panel
2017-03-31 18:56:52 -04:00
matlabbe
d21ae76fff
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
matlabbe
d1e9525052
Added viewpoint to laser scan 2D ray tracing
2017-03-06 12:07:59 -05:00
matlabbe
46ec0b8f70
Fixed Freenect2 calibration default rgb/depth/switched config not working
2017-03-03 18:12:55 -05:00
matlabbe
300e37124c
GTSAM: added optimizer approach option #172
2017-03-02 16:46:15 -05:00
matlabbe
17121d5861
Added parameter "Grid/ProjRayTracing" and renamed "Grid/3DGroundIsObstacle" to "Grid/GroundIsObstacle"
2017-03-01 14:06:21 -05:00
matlabbe
1be0d52051
Fixed compilation error with PCL < 1.7.2 (disabled graph frustums option)
2017-02-09 19:25:35 -05:00
