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Author SHA1 Message Date
matlabbe 97b61f885d Docker: added hooks/build to xenial build with CACHE_DATE 2018-05-03 08:56:47 -04:00
matlabbe 0d7b8f13d8 Docker replaced -j3 by -j8 2018-05-02 16:19:15 -04:00
matlabbe 2bf7d87b29 Docker: add g2o/gtsam/libpointmatcher to dockerfiles 2018-05-02 16:10:36 -04:00
matlabbe 8d5d50a198 Fixed 2 cmake minor warnings on standard build 2018-05-02 12:46:45 -04:00
matlabbe aa743fc397 ROS: added libg2o dependency 2018-05-02 09:18:23 -04:00
matlabbe 29d16633f5 Added bionic dockerfile 2018-05-01 15:53:19 -04:00
matlabbe d92debe356 rtabmap::triggerNewMap(): reverting commit d9716590b1 to clear optimized poses so that occupancy grid is cleared when triggering a new map. MapCorrection is kept not cleared to support Tango switching mapping<->localization mode without jumping. 2018-04-30 20:03:01 -04:00
matlabbe 52aed1041c using copied version of solvePnPRansac for OpencV 3.3.1 too (along OpenCV2) to have stable transformation estimation (e.g., outdoor stereo demo is getting lost very often with the version of 3.3.1) 2018-04-30 17:44:13 -04:00
matlabbe 8fec570c13 Added Rtabmap::setInitialPose() 2018-04-30 14:49:41 -04:00
matlabbe a39d0840ce fixed #279 2018-04-30 11:16:26 -04:00
matlabbe 63cc86bdcd rtabmap: fixed optimization error seg fault when no maxLinearLink can be found 2018-04-27 19:42:30 -04:00
matlabbe 637514d00d DbViewer: fixed odom pose not added to odomPoses_ when a location doesn't have any links 2018-04-27 19:07:43 -04:00
matlabbe b2db31ff18 Fixed backward compatibility error when saving statistics to db 2018-04-27 18:48:10 -04:00
matlabbe b044bae304 DbViewer: added menu actions to view/update/export optimized mesh saved in database. CloudViewer: cubes can be added for convenience, fixed double-click not always working. util3d: added conversion function from LaserScan to PointCloud2, added conversion functions between polygons format saved in database and PCL polygons format with vertices. 2018-04-25 12:34:47 -04:00
matlabbe f13e384a1b Added util3d::fixTextureMeshForVisualization() 2018-04-16 17:50:00 -04:00
matlabbe bfce5cceb5 Fixed #275. Removed Grid/Scan2dMaxFilledRange parameter (use Grid/RangeMax instead). 2018-04-14 16:48:29 -04:00
matlabbe 344dc165bc fixed #276 and #277 2018-04-14 13:41:04 -04:00
matlabbe 79c4bd7850 Export: Added load and save settings buttons (#274) 2018-04-13 18:54:52 -04:00
matlabbe a82261a4df Export: Added Poisson auto depth (value=0). CloudViewer: Added measuring tool. 2018-04-13 18:19:13 -04:00
matlabbe 57a62dbbfd util3d::mergeTextures: Added assert msg 2018-04-10 12:21:48 -04:00
matlabbe cd125ae274 util3d::mergeTextures() added interface with single calibrations for convenience 2018-04-09 12:26:09 -04:00
matlabbe d9716590b1 Rtabmap: don't reset mapCorrection transform when triggering a new map 2018-04-05 11:28:07 -04:00
matlabbe 2b00b2c1c5 Tango: 0.17 fixing broken localization on visualization 2018-04-05 11:00:16 -04:00
matlabbe b3b0caa038 DbDriver: fixed save/load optimized mesh errors (0.17) 2018-04-05 10:15:06 -04:00
matlabbe db0e833ce9 Tango: fixed build 2018-04-05 09:44:14 -04:00
matlabbe 592b7c66c5 0.17.0: saving optimized poses and last localization pose to database (https://github.com/introlab/rtabmap_ros/issues/220). Parameters: fixed Icp default parameters when not built with libpointmatcher, added RGBD/SavedLocalizationIgnored (default false). DbViewer: added Export/Import 2D map (https://github.com/introlab/rtabmap_ros/issues/213). 2018-04-04 19:14:13 -04:00
matlabbe 34b32f53f6 Merge pull request #273 from mlong-xii/patch-1 
Fix laserscan from depth
 2018-03-28 15:33:31 -04:00
matlabbe 99acc9a6e7 Windows: Reordered libraries with gtsam at the end (which is static on Windows) 2018-03-28 11:04:18 -04:00
matlabbe d886c788e7 Fixed CMake keeping old install version path when changing version 2018-03-27 15:50:27 -04:00
matlabbe d2f7d8a9c4 ExportDialog: Added OpenChisel meshing option 2018-03-26 18:06:41 -04:00
matlabbe 7143f693d2 Euroc tool: fixed build error when c++11 is not used #272 2018-03-26 11:13:06 -04:00
matlabbe 9cfdc00d64 Okvis: removed some compilation warnings when not built with okvis 2018-03-23 14:54:49 -04:00
matlabbe 4f6ab68318 Update README.md 2018-03-23 12:49:21 -04:00
matlabbe 7c6439e075 CameraStereoImages: removed warning telling to calibrate the camera when only pose calibration file is not found 2018-03-22 12:40:16 -04:00
matlabbe 420fecad51 Docker updated artful image. Memory: fixed 2x icp correspondence ratio error (>1.0) when creating registration for icp proximity detection 2018-03-22 11:22:47 -04:00
matlabbe ef017c9e9d Docker: updated artful build 2018-03-22 10:07:19 -04:00
matlabbe 00412749e7 IMU: changed members from Eigen to cv to avoid seg faults about Eigen memory alignment when copying IMU object created dynamically (#270) 2018-03-21 21:31:41 -04:00
matlabbe 4188da2ef2 Docker: updated xenial with freenect/openni2 dependencies 2018-03-21 16:36:18 -04:00
matlabbe 8d93c275ab Tango: fixed optimized mesh where nans were removed before saving (causing trouble with corresponding polygons) 2018-03-21 16:00:12 -04:00
matlabbe b0b3b491a0 Docker: added android/install_deps_host.bash. ExportClouds: default voxel size 0.02->0.01 2018-03-20 16:47:18 -04:00
matlabbe dd59d3c713 Tango: fixed MaxOptimizeError value that now is a factor. Docker: updated tango download links 2018-03-18 18:47:13 -04:00
matlabbe 548f0b6130 Fixed Android build 2018-03-18 16:00:03 -04:00
matlabbe f7e007018f fixed Windows build 2018-03-18 19:43:20 -04:00
matlabbe 436e82653c Parameters: updated default of Icp/CorrespondenceRatio and Icp/PMOutlierRatio. Fixed OptimizerG2O build with ORB_SLAM2. Fixed seg fault after restarting ORB_SLAM2 odometry. 2018-03-17 18:20:32 -04:00
matlabbe ecf598e412 util3d::laserScanFromPointCloud(...): ignore NaN points and normals. RegistrationIcp: ignoring NaNs on conversion to PD format to fix some registration fails caused by NaNs. 2018-03-13 02:27:59 -04:00
matlabbe 257fe20c4f OdometryF2F: fixed published localScanMap in wrong frame 2018-03-13 00:01:32 -04:00
matlabbe ba011169b8 DbViewer: don't modify ground truth values (previously they were aligned with root) 2018-03-12 20:57:34 -04:00
matlabbe ffe50dad22 When exporting poses, set txt extension by default if not set 2018-03-12 20:26:34 -04:00
matlabbe dc289ba635 DbViewer: when align with ground truth is enabled, exported poses are those aligned with ground truth 2018-03-12 18:51:55 -04:00
matlabbe 10724fac3b fixed opencv2/core.hpp not found 2018-03-07 20:55:10 -05:00
matlabbe 4969ece356 0.16.3: Added OKVIS support (tested only on EuRoC dataset). Added IMU/IMUThread classes. Added OdomOKVIS/ConfigPath and Rtabmap/ImagesAlreadyRectified parameters. MainWindow, limited odom local feature map to maximum 50 meters from current pose (to avoid VTK glitching with near/far clipping plane). 2018-03-07 19:43:30 -05:00
matlabbe 2fad881202 fixed a compilation warning 2018-02-23 17:55:31 -05:00
matlabbe 39b363d0b5 Memory: compute scan max range if not set on signature creation. 2018-02-23 15:52:59 -05:00
matlabbe 215eff3212 MainWindow: updated default 2d scan with normals color for map and odom 2018-02-23 11:13:26 -05:00
matlabbe e1a0fc42ea Rtabmap: added ebug info when proximity scan matching is disabled 2018-02-23 10:47:07 -05:00
matlabbe 69d28db660 DbViewer: optimized fetching wm states from db, added checkbox along graph iteration slider to generate intermediate graphes. 2018-02-23 10:12:36 -05:00
matlabbe c3ab04b436 Report: removed a test UERROR 2018-02-22 16:37:55 -05:00
matlabbe 918281a804 Rgbd_dataset: fixed Rtabmap/CreateIntermediateNodes not used 2018-02-22 12:09:03 -05:00
matlabbe 297cf3f51e 0.16.2: Added wm_state field to database's Statistics table. New parameter "Rtabmap/SaveWMState" (default false). DbViewer: added option in GraphView to show only poses of the root id that were in WM at that time 2018-02-21 18:19:20 -05:00
matlabbe 93e1d732c9 DbViewer: added option to align scans/clouds to ground truth for convenience 2018-02-21 15:13:02 -05:00
matlabbe 1bfde1f9f0 Neigbor refining can be done with any Registration approach. Memory::computeIcpTransformMulti(): correspondences ratio increased by two times to accept transform 2018-02-21 12:23:12 -05:00
matlabbe 489ab86ac7 dbviewer: fixed variance*100 for proximity by space links (multi-scan). 2018-02-21 10:08:48 -05:00
matlabbe e8f7746c87 dbviewer: removed voxel filtering from scan display 2018-02-21 08:38:35 -05:00
matlabbe db1139e89e Gui: fixed default color for scans from odom in MainWindow and constraint view in dbviewer. Recovery/reprocess: fixed triggering new map on covariance >=9999. Reg: repeatOnce not done if it has a child. Statistics: added time proximity by space visual info. 2018-02-20 17:33:48 -05:00
matlabbe 5c04ce257b DbViewer: can launch with a directory argument to set current workspace for convenience. 2018-02-19 16:37:17 -05:00
matlabbe 6cdb2a48fd OctoMap: improved projection performance 2018-02-19 16:25:55 -05:00
matlabbe 37cbf79b4c DbViewer: fixed occupancy grid color options. Reprocess: added grid total time including rtabmap stats 2018-02-18 21:32:19 -05:00
matlabbe 00559ce8d6 ground segmentaiton: adjusted cluster inlier with centroid below max height of biggest cluster 2018-02-18 15:30:20 -05:00
matlabbe 07244a8a73 Fixed occupancy grid created from PointNormal with RGB 2018-02-18 15:10:25 -05:00
matlabbe d181bedbfc Gui 3d rendering: added default color scheme option, added min and max range options for laser scans 2018-02-17 09:46:08 -05:00
matlabbe 077b3ab59e RegistrationIcp: Added laserScanToDP() 2018-02-17 07:48:10 -05:00
matlabbe edbed67afe Windows: added missing RTABMAP_EXP in LaserScan class. Memory: fixed wrong laser scan format set when filtering is enabled. 2018-02-16 20:56:48 -05:00
matlabbe a947f8c783 Fixed 2d multi-scan matching fatal error 2018-02-16 20:23:42 -05:00
matlabbe 6e131dcd7e fixed build on linux 2018-02-16 19:54:49 -05:00
matlabbe d24097f73d 0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...) 2018-02-16 19:20:54 -05:00
matlabbe bfb3a58c01 Optimizer: added optimizeIncremental() method to solve optimization error problems when re-opening the database (when graph should be re-optimized from raw odometry poses, not latest optimized poses, #172) 2018-02-13 18:18:42 -05:00
matlabbe 02a64a7fa3 Added ctrl-c handling to reprocess and recovery tools. 2018-02-13 16:54:31 -05:00
matlabbe 3dfe1ccb1a DbViewer: updated warning msg when graph optimization fails. 2018-02-13 14:14:08 -05:00
matlabbe c6e5f1c9f8 Fixed PCL extract indices filter workaround for PointNormal type (not defined in current released PCL). Compression: Fixed OpenCV memory leak when converting uncompressed depth image to 32F format. 2018-02-13 12:36:23 -05:00
matlabbe 4c0a612ab5 util3d_filtering: refactored implementations using templates. Parameters: Changed Grid/DepthMin|Max to Grid/RangeMin|Max, added Grid/PreVoxelFiltering, added GridBlobal/OctoMapOccupancyThr. OccupancyGrid: supporting input clouds already having normals. Memory: don't save working directory parameter to database. 2018-02-13 10:16:48 -05:00
matlabbe 09cae9cbd3 DbViewer: added color selectors for obstacle, ground and empty cells. 2018-02-12 11:32:17 -05:00
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 1c8c233ebf fixed compilation errors on octomap >=1.8 introduced by previous commit for octomap < 1.8 2018-02-09 11:02:01 -05:00
matlabbe c2d0628da1 Fixed compilation errors with octomap < 1.8 2018-02-09 10:53:39 -05:00
matlabbe 2e58fa3c2f Fixed OctoMap build error with version <1.8 2018-02-08 22:04:50 -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 e7ceacc215 Fixed broken incremental prediction matrix from commit 977d21e 2018-02-07 18:16:19 -05:00
matlabbe a320eb5d8e ExportCloudsDialog: voxel size is now to 0.02 by default to limit the size of generated cloud (using too much RAM may result in a crash) 2018-02-06 11:34:54 -05:00
matlabbe 42199eefd2 Added --poses option to report tool. Reprocess tool: Export ground/obstacles when 3d map is created. 2018-02-06 11:31:39 -05:00
matlabbe 56df87e60c GraphViewer: Added "hide/show graph nodes" menu action, added 1% border when exporting to SVG 2018-02-04 14:18:39 -05:00
matlabbe 90ed9cd15c Added support for latest g2o code (with c++11 interface) 2018-02-03 15:43:32 -05:00
matlabbe 8ca3bca810 Fixed build error in rtabmap-reprocess without octomap. Fixed non c++11 build for BayesFilter. 2018-02-02 13:12:14 -05:00
matlabbe 5d2912baa1 Merge branch 'master' of github.com:introlab/rtabmap into devel 2018-02-02 11:47:54 -05:00
matlabbe 129ec29af5 Update .appveyor.yml 
Added devel branch
 2018-02-02 11:47:20 -05:00
matlabbe 70991cf173 fixed a compilation warning and updated usage of benchmarking tools 2018-02-02 08:51:38 -05:00
matlabbe 61199eff9c fixed CameraThread compilation error with OpenCV<3, added yaml-cpp dependency to travis 2018-02-02 08:35:06 -05:00
matlabbe 4991d3dbab fixed yaml-cpp optional requirement 2018-02-02 08:27:49 -05:00
matlabbe 3405e8b8e1 Merge branch 'master' of https://github.com/introlab/rtabmap into devel 2018-02-01 22:19:34 -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 09e0d0b9d8 Added RTAB-Map100.png logo of 100 pixels height for main readme to fix docker main page <a><img> tags not supported 2018-01-14 17:20:39 -05:00