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1552 Commits

Author SHA1 Message Date
matlabbe
c2b1a9fbd7 Fixed long loading time of large working memory 2018-11-05 11:50:49 -05:00
Mathieu Labbé
961549d375 Updated CameraStereoFlyCapture2 with triclops new API 2018-11-01 17:17:38 -04:00
matlabbe
8087774961 Added contributor to CameraStereoTara files 2018-10-31 11:05:06 -04:00
e-con Systems India Pvt Ltd
53513b6632 Tara Camera added to Master branch (#331) 
* Tara Camera integration

* Update preferencesDialog.ui

* Update preferencesDialog.ui
 2018-11-01 02:57:07 +12:00
matlabbe
12a7349165 Removed Optimizer:computeBACorrespondences() duplicated 3d points (more than 2 frames can reference a 3D point), added option to rematch features. Bundler: added more options to export dialog, fixed inverted colors. 2018-10-25 16:31:13 -04:00
matlabbe
c14e20330f Fixed SIFT octave issue causing registration to always fail. Added Bundler export points option. 2018-10-24 20:01:57 -04:00
matlabbe
299bec15ff DBReader: publish global pose if prior link is detected, negative image rate means now a ratio of the database stamps 2018-10-24 09:26:41 +12:00
matlabbe
8e99291e13 0.18: Camera calibration and LaserScan Info refactoring (#324) 
* Saving full camera calibration in database, added angle min/max/inc to LaserScan.

* Updated laserscan info save/load in db

* Database: added Tag table, added env_sensors field to Node

* fixed serialization/deserialization of stereo camera model

* fixed multi-calibration db saving

* fixed rebase errors

* Tango: Added saving environmental sensors option

* Memory: Save env sensors

* Tango: fixed env sensor ids

* DBViewer: show env sensors values

* DBViewer: added calibration details on tooltip

* increased package version to 0.18.0

* Fixed LaserScan copies when angleIncrement is valid

* fixed build error without OctoMap dependency
 2018-10-23 14:35:14 -04:00
matlabbe
8701ae6de0 Update OptimizerG2O.cpp 
#323
 2018-10-24 06:18:10 +12:00
matlabbe
d2c406f019 fixed build without g2o (#323) 2018-10-24 06:16:40 +12:00
matlabbe
d2abc3a237 Added parameter Rtabmap/LoopGPS (default true) to enabled/disable the use of GPS in likelihood computation 2018-10-22 14:39:30 -04:00
matlabbe
3bc8fc4c11 Integrated GPS into likelihood computation 2018-10-22 12:31:07 -04:00
matlabbe
93a3a667c8 fixed build errors with OpenCV2 caused by commit 39e1d45369 (OpenCV4) 2018-10-21 13:53:49 -04:00
matlabbe
39e1d45369 Fixed build with OpenCV4 (#322) 2018-10-21 13:35:03 -04:00
matlabbe
4c7b565391 Refactored Optimizer::getConnectedGraph() to estimate poses based on links, we can then remove Optimizer::optimizeMultiSession(). Rtabmap: if poses and guess are not the same before optimization, do Optimizer::getConnectedGraph() to get pose estimates based on links instead of odom (to make optimization more robust to memory management and multi-session). 2018-10-16 18:55:36 -04:00
matlabbe
f1546c1fca Replaced all optimizeIncremental() by optimizeMultiSession() to fix GTSAM errors when merging multiple maps together. DBReader: always publish saved stamp. DBViewer: added actions to set covariance of all neighbor or loop closure links. 2018-10-15 17:07:18 -04:00
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
7fdd212462 rtabmap-reprocess supports multiple input databases. Arguments "--params map.db" output parameters of the database in INI format 2018-10-12 15:53:44 -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
6b5990aa04 odom variance verification limited to yaw if 3dof registration/optimization is done 2018-10-02 18:02:55 -04:00
matlabbe
ae08adb8bd warn odom high variance only one time 2018-10-02 15:32:26 -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
8b055752aa RegistrationIcp: Fixed invalid variance set when structural complexity is low and input doesn't have normals. DBViewer: added check on angular error after optimizing the graph when adding a new constraint. Memory: added warning if odom angular variance detected is very high. 2018-09-28 22:02:07 -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
790b0e5cf7 Memory: undistortion of features can be done also for RGB-only case 2018-09-27 10:19:28 -04:00
matlabbe
5e08da51aa RealSense: fixed color rectification. Fixed ZR300 odometry frame. 2018-09-26 20:51:12 -04:00
matlabbe
0c2287df77 CameraModel fisheye model: fixed typo 2018-09-25 14:36:59 -04:00
matlabbe
b581a62c89 Fixed build with opencv < 2.4.10 for missing fisheye model 2018-09-24 15:09:12 -04:00
matlabbe
c341648a44 Added parameter "Rtabmap/RectifyOnlyFeatures". Added support of fisheye distortion model. 2018-09-24 14:36:54 -04:00
matlabbe
f903ffb927 Fixed regression errors for OpencV2 (#309) 2018-09-18 23:03:40 -04:00
matlabbe
124543c57d Fixed compilation errors with OpenCV 4.0.0 (#309) 2018-09-18 22:43:18 -04:00
matlabbe
829f05e2fb Implemented missing max angular optimization error check for RGBD/OptimizeMaxError 2018-09-18 22:34:15 -04:00
matlabbe
84a8e5830e fixed https://github.com/introlab/rtabmap_ros/issues/274 2018-09-18 12:30:01 -04:00
matlabbe
eedc68c360 fixed #312 2018-09-18 12:20:15 -04:00
matlabbe
0cf37fbbf1 Added D415 icon 2018-09-15 11:37:02 -04:00
matlabbe
43e144e7b6 CMake: using external sqlite3 is available, otherwise use internal copy. 2018-09-05 14:22:34 -04:00
matlabbe
f64a5e75d5 fixed fovis.hpp not found when using kinetic libfovis branch of https://github.com/srv/libfovis 2018-08-29 14:48:30 -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
9e13d5600a GUI: Fixed ProbMiss assert when resetting value to default 2018-08-16 16:51:29 -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
b8847fd006 0.17.5: added --version option on command line 2018-08-14 14:21:44 -04:00
matlabbe
714d95cc34 Removing redundant non null check before deleting a ptr in destructors #301 2018-08-09 15:53:47 -04:00
matlabbe
7f09a9e0cb fixed #293 2018-08-06 16:34:09 -04:00