 matlabbe
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91285e5e97
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Added SuperGlue support (Vis/CorNNType=6). Added rtabmap-matcher tool. DBViewer: show matches/inliers when refine also fails. SIFT: make sift always available on OpenCV 4.3.0 (#538). Parameters: changed SPTorch prefix to SuperPoint, replaced Vis/CorCrossCheck by Vis/CorNNType=5.
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2020-05-09 21:13:41 -04:00 |
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matlabbe
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1af139134e
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Deprecated Rtabmap::get3DMap(), use Rtabmap::getGraph() instead with setting to true the data flags. Rtabmap::getGraph() now ignores children nodes.
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2020-05-06 08:04:58 -04:00 |
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matlabbe
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7d377d26df
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Added Rtabmap::getSignatureCopy()
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2020-05-05 13:26:40 -04:00 |
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matlabbe
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c19da22ca4
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0.20: added GlobalDescriptor table in database
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2020-05-03 21:46:25 -04:00 |
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matlabbe
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40804d9120
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Statistics: added x,y,z map corrections. Report: added options --stats to show available statistics to plot in a database
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2020-04-30 15:48:47 -04:00 |
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matlabbe
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00d8375a2e
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RGBD/SavedLocalizationIgnored: if true, it is now starting at the origin (0,0,0) instead of null (not linked to graph).
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2020-04-23 11:57:01 -04:00 |
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matlabbe
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cdff33b1c2
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Added Mem/LocalizationDataSaved parameter
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2020-04-05 19:21:20 -04:00 |
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matlabbe
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39724e239c
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rtabmap: fixed graph not re-optimized (if empty) after first localization on landmark
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2020-03-10 13:08:47 -04:00 |
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matlabbe
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3ea64fbfc3
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Rtabmap: do localization if a landmark already in graph is detected
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2020-03-01 18:41:49 -05:00 |
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matlabbe
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5daf4e5b2b
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Rtabmap: avoid optimizing for only gravity if odometry is already aligned with gravity
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2020-02-26 13:40:03 -05:00 |
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matlabbe
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79b480da4b
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Rtabmap: added addLink() function
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2020-02-11 23:33:18 -05:00 |
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matlabbe
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356094fac4
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Intermediate nodes are now filtered if RGBD/LinearUpdate is set.
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2019-12-20 17:07:31 -05:00 |
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matlabbe
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179f17d267
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0.19.6: Added auto brightness/contrast and texture format options to multiband approach. rtabmap-export moved from examples to tools directory.
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2019-11-03 14:10:02 -05:00 |
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matlabbe
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c437375f08
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Localization: Fixed local map cleared when gravity links are added and no localization happened. Fixed "Word not found" error on initialization when Mem/InitWMWithAllNodes is true.
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2019-09-19 15:23:18 -04:00 |
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matlabbe
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bdc8d839ff
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Optimizing the graph if gravity or prior constraints are added in SLAM mode
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2019-09-12 18:56:01 -04:00 |
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matlabbe
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62d8a892c6
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DbViewer: fixed graph not re-optimized after refining an added link. Rtabmap: RGBD/ProximityPathMaxNeighbors=1 means only nearest node on a path
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2019-07-23 15:21:32 -04:00 |
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matlabbe
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49977b5475
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Added ground truth localization error stats
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2019-06-26 16:21:03 -04:00 |
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matlabbe
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d205683eb5
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Added parameters Vis/MeanInliersDistance and Vis/MinInliersDistribution
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2019-06-16 18:54:39 -04:00 |
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matlabbe
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85edc57ba5
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Added RGBD/MaxLocalizationDistance parameter
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2019-06-12 16:03:52 -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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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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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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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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428d5be129
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fixed compilation warning
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2019-04-12 19:27:12 -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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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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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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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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matlabbe
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c272f9538a
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Rtabmap/StartNewMapOnGoodSignature: start mapping if landmark is also detected. Rtabmap::detectMoreLoopClosures(): Fixed crash when landmarks are in optimized poses.
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2019-02-28 20:33:16 -05:00 |
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matlabbe
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d6ca37a9e7
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Integration of OpenCV's ArUco Marker Detection (see new parameter "RGBD/MarkerDetection")
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2019-02-18 18:19:55 -05:00 |
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matlabbe
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1752b55678
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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.
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2019-02-07 11:19:55 -05:00 |
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matlabbe
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c8cd745f81
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Rtabmap: On init, load also landmark optimzed poses
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2019-02-04 18:23:09 -05:00 |
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matlabbe
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479fb6cbca
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rtabmap: update lastLocalizationNodeId even when only a landmark is detected
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2019-01-15 21:34:01 -05:00 |
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matlabbe
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0f8c70bcdf
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g2o/gps support: added edge_se3_xyzprior.h to rtabmap repo. Fixed build for kinetic g2o version.
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2019-01-03 15:49:25 -05:00 |
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matlabbe
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85f0ab829a
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Rtabmap: updated logic of small displacement updates (RGBD/LinearUpdate=0 means always update)
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2018-12-13 13:30:50 -05:00 |
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matlabbe
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73378c4d56
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fixed compilation warning
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2018-12-09 14:16:51 -05:00 |
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matlabbe
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986db04cb9
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Rtabmap::computePath() make sure the closest pose of the current location is a node, not a landmark
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2018-12-07 20:43:46 -05:00 |
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matlabbe
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200ec8e5db
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0.18.3: added landmarks (graph optimization, localization, navigation)
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2018-12-07 18:29:41 -05:00 |
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matlabbe
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283c1df00c
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Fixed labels not correctly shown. Fixed planner not sending next goals when memory management is disabled.
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2018-11-19 18:00:24 -05:00 |
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matlabbe
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015c442f1c
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DetectMoreLoopClosures: update optimized poses and clear occupancy grid saved in database
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2018-11-09 20:36:58 -05:00 |
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matlabbe
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8333677dc6
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Improved/optimized Rtabmap timing performance for large datasets
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2018-11-09 17:28:55 -05:00 |
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matlabbe
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09a63bbc5b
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Rtabmap::detectorMoreLoopClosures() added intraSession and interSession parameters
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2018-11-05 18:40:08 -05:00 |
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matlabbe
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4f1deef971
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Proximity detection by space: sort nearest paths by likelihood values
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2018-11-05 14:24:04 -05:00 |
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