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900 Commits

Author SHA1 Message Date
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
b717910db8 Fixed QMutex still locked on exit warning. Removing old parameters from ini file on saving. Memory: Removed completely the use of Vis/CorType (only used by F2F odom). 2018-10-04 17:09:03 -04:00
matlabbe
16309e6d18 Added StereoSGBM (fixed #77) (#318) 
* Added StereoSGBM class

* fixed StereoSGBM build for OpenCV2
 2018-10-04 16:10:16 -04:00
matlabbe
711184c465 Windows: Fixed linker error 2018-10-02 00:07:34 -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
matlabbe
dbb9cfa77a Parameters: Updated description of Rtabmap/TimeThr and Rtabmap/MemoryThr (https://github.com/introlab/rtabmap_ros/issues/276) 2018-09-28 15:37:24 -04:00
matlabbe
02fdd677cf 💄 2018-09-27 16:08:55 -04:00
matlabbe
3b74534567 Parameters: Mem/LaserScanNormalRadius should be a float 2018-09-27 14:28:51 -04:00
matlabbe
5e08da51aa RealSense: fixed color rectification. Fixed ZR300 odometry frame. 2018-09-26 20:51:12 -04:00
matlabbe
c341648a44 Added parameter "Rtabmap/RectifyOnlyFeatures". Added support of fisheye distortion model. 2018-09-24 14:36:54 -04:00
matlabbe
829f05e2fb Implemented missing max angular optimization error check for RGBD/OptimizeMaxError 2018-09-18 22:34:15 -04:00
matlabbe
0cf37fbbf1 Added D415 icon 2018-09-15 11:37:02 -04:00
matlabbe
30290c36d7 Rtabmap: Added deleteLastLocation() and rejectLastLoopClosure() methods 2018-08-29 12:29:11 -04:00
matlabbe
c105804572 Moved DBDriverSqlite3.h to installed headers (changed some members from private to protected for easier inheritance) 2018-08-27 16:54:23 -04:00
matlabbe
35d5200a3b Parameters in group GridGlobal: renamed OctoMapOccupancyThr to OccupancyThr, added ProbHit, ProbMiss, ProbClampingMin, ProbClampingMax. Using logodds approach from OctoMap to evaluate occupancy of standard grid map. ref https://github.com/introlab/rtabmap_ros/issues/269 2018-08-16 14:42:05 -04:00
matlabbe
d5128ddc18 Added parameter Mem/CovOffDiagIgnored (default true) 2018-08-05 12:51:50 -04:00
matlabbe
a0342671ac OccupancyGrid: added getCache() method 2018-08-02 16:53:44 -04:00
matlabbe
e03da92a90 FAST: disabled grid parameters by default 2018-07-27 16:41:19 -04:00
matlabbe
b63590bf1d Memory: Fixed features with no id (-1) ignored for triangulation from motion. Dictionary: matching with negative word ids is now allowed 2018-07-26 20:41:54 -04:00
matlabbe
cfdee23d33 Statistics: added variance info of the loop closure/localization. GUI: Graph view option to show nodes on which loop closures/localizations happened 2018-07-26 14:40:16 -04:00
matlabbe
173bd49a26 Handling intial odometry pose in all odometry approaches. For VIO approaches, gravity initialization is handled too. (#298) 2018-07-19 14:10:36 -04:00
matlabbe
9ae47b79f9 Working MSCKF 2018-07-18 16:15:41 -04:00
matlabbe
15e09cd0a8 Devel: new feature msckf_vio 2018-07-14 20:40:44 -04:00
matlabbe
35bc2d06a6 Fixed building with RealSense2 on Windows 2018-07-10 13:09:52 -04:00
matlabbe
d41c15dbc7 Rtabmap::computePath() added tolerance parameter to overwrite default RGBD/LocalRadius 2018-07-09 15:11:19 -04:00
matlabbe
675da6201a Added OdomLOAM/LocalMapping parameter 2018-06-28 11:30:21 -04:00
matlabbe
d447329bf1 Added LOAM (loam_velodyne) odometry support 2018-06-28 11:10:46 -04:00
matlabbe
10b452197d fixed build without realsense 2018-06-19 14:00:26 -04:00
matlabbe
973bf93c77 RealSense: added depthScaledToRGBSize option to be able to feed ORB_SLAM2 with depth and RGB images with same size #287. 2018-06-19 13:53:03 -04:00
matlabbe
502d5e75e8 CameraRealSense2: added IR-Depth mode option 2018-06-15 14:35:54 -04:00
matlabbe
eb4de8e724 Added RealSense2 driver to UI 2018-06-15 13:29:08 -04:00
matlabbe
2060e0b1da Added CameraRealsSense2 driver (tested only with D435) 2018-06-15 12:24:00 -04:00
matlabbe
c6d893bc98 MainWindow: Odometry visualization not updated if msgs are received faster than they can be visualized. ZED: self-calibration set to true by default (should be true for ZED-M vio) 2018-06-14 17:25:35 -04:00
matlabbe
7424a1f463 When Mem/DepthAsMask is false, features without depth are triangulated using odometry. Added parameter RGBD/LocalBundleOnLoopClosure. 2018-06-01 16:26:09 -04:00
matlabbe
1914275fa8 0.17.2: compute marginals (covariance) on graph optimization 2018-05-30 15:35:08 -04:00
matlabbe
b6b0b9a984 Refactored and integrated pull request https://github.com/introlab/rtabmap/pull/285 2018-05-29 13:59:43 -04:00
matlabbe
c68dde70ec Memory: added getDatabaseUrl() function 2018-05-25 13:54:29 -04:00
matlabbe
d34a529116 Added Rtabmap/StartNewMapOnGoodSignature parameter 2018-05-24 14:53:47 -04:00
matlabbe
df7539a48e Update Parameters.h 2018-05-17 11:10:00 -04:00
matlabbe
9c91fb8cd8 0.17.1: Fixed issue #282 and https://github.com/introlab/rtabmap_ros/issues/243 2018-05-14 20:50:21 +00:00
matlabbe
bb0b12be27 Updated not incremental dictionary approach for save/reload (can set a database path as dictionary for convenience) 2018-05-08 18:50:39 -04:00
matlabbe
8fec570c13 Added Rtabmap::setInitialPose() 2018-04-30 14:49:41 -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
cd125ae274 util3d::mergeTextures() added interface with single calibrations for convenience 2018-04-09 12:26:09 -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
9cfdc00d64 Okvis: removed some compilation warnings when not built with okvis 2018-03-23 14:54:49 -04:00