matlabbe
bbccbd63e4
Increased version to 0.20.5
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Refactored how features are stored in Signature (significative memory optimization, causing major refactoring in Memory, RegistrationVis, OdometryF2M)
FLANN: optimized memory usage when Kp/IncrementalFlann is false
Added memory usage functions
Added statistics Loop/Visual_inliers_ratio/ and Memory/RAM_estimated/MB
EpipolarGeometry: templated findPairs functions
graph::filterLinks: added inverted option
LocalBundleOnLoopClosure: Force to use only neighbor links
MainWindow: fixed max depth filtering for map's features
Rtabmap::getSignatureCopy() fixed links not returned
Added UPlot::getAllCurveDataAsText() function.
DbViewer: fixed features not rendered in right view when failing ro refine a constraint
report: added --export and --export_prefix options (to export figures data)
2020-10-05 17:34:32 -04:00
matlabbe
bedc771fa4
Rtabmap: added getNodesInRadius() public functions
2020-09-28 12:03:42 -04:00
matlabbe
8fa216bd9d
Fixed default odom gravity sigma value to -1. Preferences: set 720p by default for K4A driver
2020-07-01 14:04:19 -04:00
matlabbe
6e1f07e097
CameraK4A: fixed IMU local transform, fixed some compilation warnings.
2020-06-22 19:42:55 -04:00
matlabbe
86ac63ab19
UPlot: changed float to qreal (double). Added UPlot::frameData() function.
2020-06-07 11:55:27 -04:00
matlabbe
415a2778f1
Added Features2d::limitKeypoints() with grid options. Odometry: if imu is provided and no guess is provided, the change of orientation of imu is used for rotation guess (overwrite rotation from Odom/GuessFromMotion). OdometryInfo: added gravity errors when imu is used. Preferences: added a second GravitySigma parameter (overwritting Optimizer/GravitySigma for odometry is not negative) for F2M odometry panel.
2020-05-31 11:22:12 -04:00
matlabbe
6acfc62196
CloudViewer: adjust frustum fov based on camera model ( https://github.com/introlab/rtabmap_ros/issues/419 )
2020-05-24 11:13:13 -04:00
matlabbe
eb9999d7b1
Rtabmap::addLink() supporting localization mode. MainWindow: fixed flickering camera frustum.
2020-05-21 21:26:29 -04:00
matlabbe
609d45ac9b
💄
2020-05-19 15:33:32 -04:00
Thomas Kircher
b542d6a0db
Added Kinect for Azure menu option ( #551 )
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* Added Kinect for Azure menu option
* Reintegrated Kinect for Azure initialization code, fixed previous GUI commit
* Added ifdefs to fix build
2020-05-19 15:03:36 -04:00
matlabbe
c7b84c60bc
Parameters: added Mem/StereoFromMotion (default false) and RGBD/ProximityOdomGuess (default false). Visual proximity detection is done before computing the loop closure transform (the later is ignored if visual proximity succeeded with a node close to loop closure, add Loop/Suppressed_hypothesis_id statistics to know when this happens). Changed Loop/Map_correction to Loop/Odom_correction (to better see the actual jumps of localization about /base_link frame, not /odom frame). util3d::generateWords3DMono() is now using openCV's implementation of five-point algorithm (this fixed some cases for which the older approach couldn't find any solution). UPlot: added scrolling area on the legend, added global legend option to show all curve statistics (mean, stddev,max). MainWindow's open dialog: reopen last directory when reopening a different database. ParametersToolBox: show default parameter value in tooltip. rtabmap-report: add --start option. rtabmap-reprocess: show details about proximity and loop detections, reset all localization statistics after changing database.
2020-05-19 15:01:50 -04:00
matlabbe
ace93b0356
GUI: check mynteye when selected
2020-04-30 01:00:17 -04:00
matlabbe
14ec619b1e
Added MYNT EYE S support. Fixed StereoCameraModel rectification not done with non-square images, also updated to support fisheye model.
2020-04-30 00:57:47 -04:00
matlabbe
00d8375a2e
RGBD/SavedLocalizationIgnored: if true, it is now starting at the origin (0,0,0) instead of null (not linked to graph).
2020-04-23 11:57:01 -04:00
matlabbe
de354b901d
RegInfo: added icpStructuralDistribution info
2020-04-14 17:06:53 -04:00
matlabbe
d6269bb5d6
GUI: changed TF link colors from yellow to orange (as yellow already used for gravity)
2020-04-10 13:40:59 -04:00
matlabbe
b3f7d1881f
GUI: added options to hide map/odom frames and yellow TF links. CloudViewer: added option to show/hide camera axis
2020-04-03 20:04:15 -04:00
matlabbe
dcc15f7555
MainWindow: added TG_error_lin and TG_error_ang stats for odometry (error of actual odometry transform compared to ground truth)
2020-03-31 11:52:27 -04:00
matlabbe
0eb978cb0b
RegInfo: fixed copy without data.
2020-03-28 18:48:51 -04:00
matlabbe
451211cfb1
OdomInfo: added icpCorrespondences. Stats: using norm instead of x for distance/speed. Added odometry speed statistic in mph
2020-03-28 17:07:22 -04:00
matlabbe
bfc64c451a
MainWindow: added /map and /odom coordinate frames
2020-03-10 10:30:42 -04:00
matlabbe
882f2010ce
MainWindow/rtabmapviz: Ignore Odometry stats included in rtabmap's Statistics object (to avoid plot reset when also receiving those from odom info)
2020-02-21 16:16:36 -05:00
matlabbe
ccc5a5be5a
OctoMap::createCloud() added cloud probability output option.
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CameraRealSense2: added new warnings to debug easier timestamps problems.
GUI: added gravity visualization.
DbViewer: empty clouds in OctoMap mode have color depending on probability of occupancy.
Brought general changes from local xvision branch.
2020-01-22 10:34:21 -05:00
matlabbe
57a27a5d17
MainWindow: added virtual functions for convenience
2019-12-10 18:48:54 -05:00
matlabbe
179f17d267
0.19.6: Added auto brightness/contrast and texture format options to multiband approach. rtabmap-export moved from examples to tools directory.
2019-11-03 14:10:02 -05:00
matlabbe
981ac69c2c
Zed-mini: added imu thread to publish async imu events at 200 Hz (to support VINS odometry).
2019-10-13 17:40:09 -04:00
matlabbe
1e298dcfa2
CameraRealSense2: updated how imu are published in inter mode and fixed some local transforms. GUI-VINS: features are shown in Odometry view.
2019-10-13 14:48:11 -04:00
matlabbe
350d3cd85f
CameraRealSense2: fixed wrong IR image index. DBReader: fixed imu not published. OdometryF2M: use IMU roll/pitch values when IMU is used (reducing variance on those angles before BA).
2019-09-13 21:45:13 -04:00
matlabbe
78d0d60b9f
Added RealSense SR300 camera support ( #421 )
2019-07-05 11:19:45 -04:00
matlabbe
abbf7e4476
Updated UPlot data copy to include data of all curves (common x-axis), added also mean and max along stddev in legend item option
2019-07-03 12:01:34 -04:00
matlabbe
d205683eb5
Added parameters Vis/MeanInliersDistance and Vis/MinInliersDistribution
2019-06-16 18:54:39 -04:00
matlabbe
e887d462ce
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.
2019-05-31 15:36:35 -04:00
matlabbe
f8a8e55e7e
UI: Update preferences with the new imu filter parameters. Camera: added imu filtering option. Updated support for zedm, D435i and T265.
2019-05-13 18:42:46 -04:00
matlabbe
d4b4379829
Added T265 support (stereo-only yet)
2019-05-09 19:20:26 -04:00
matlabbe
195f6147ad
DBViewer: added feature/line color menu option. CameraImages/DBReader: added maxFrames parameter
2019-04-26 19:20:35 -04:00
matlabbe
a5350c4891
Optimizer: fixed bad g2o optimizations on 2d slam when there are 3D landmarks ( #384 ). DBViewer: landmarks can be now visualized.
2019-04-26 14:03:25 -04:00
matlabbe
8a6c0dad00
Fixed build with Qt4
2019-04-17 19:36:15 -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
c0a7c3a344
0.19.1: Added OdometryVINS (VINS-Fusion integration, Odom/Strategy=9)
2019-03-18 20:45:34 -04:00
matlabbe
cf4db63226
New parameter: OdomF2M/ValidDepthRatio
2019-03-06 12:35:54 -05:00
matlabbe
c272f9538a
Rtabmap/StartNewMapOnGoodSignature: start mapping if landmark is also detected. Rtabmap::detectMoreLoopClosures(): Fixed crash when landmarks are in optimized poses.
2019-02-28 20:33:16 -05:00
matlabbe
d089e95e5a
MarkerDetection: added automatic marker's length estimation when depth image is provided (and when Aruco/MarkerLength is 0).
2019-02-22 20:01:09 -05:00
matlabbe
f27da7c8a5
GUI: fixed seg fault when showing scan with intensity and computed normals
2019-02-21 17:51:07 -05:00
matlabbe
d6ca37a9e7
Integration of OpenCV's ArUco Marker Detection (see new parameter "RGBD/MarkerDetection")
2019-02-18 18:19:55 -05:00
matlabbe
c13267599e
MainWindow: Re-added rotation of the map on the graph view based on gps, if used and if priors are ignored by optimizer
2019-01-16 20:25:14 -05:00
matlabbe
9da2c1918f
CameraImages: moved scan filtering stuff to CameraThread
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Preferences->Source: refactored scan filtering parameters
OdometryF2M and OdometryF2F: moved odom orientation init from IMU to OdometryROS instead
2019-01-15 15:41:07 -05:00
matlabbe
d63f9e736e
gui: fixed odom local map hiding on rtabmap update
2019-01-09 13:50:12 -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
matlabbe
6bd9dd55b7
3D view, fixed flickering frustum
2018-12-13 18:00:19 -05:00
