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1482 Commits

Author SHA1 Message Date
matlabbe
f0ea8ab076 OdometryThread: fixed data buffer ignored if imu is always set 2018-12-01 00:53:36 -05:00
matlabbe
abbcc4f8a9 CameraFreenect: set accelerometer values in IMU member of SensorData. OdomF2M and OdomF2F: intialize orientation with gravity for the first frame if accelerometer value is valid in SensorData. 2018-12-01 00:25:48 -05:00
matlabbe
8a8f46c325 fixed #341 2018-11-29 18:21:12 -05:00
matlabbe
0167687c6b Link: Covariances are added on merge when output is NeighborMerged (reduced graph) 2018-11-27 09:23:16 -05:00
matlabbe
ca27dbd2fe Fixed #339 and #289 2018-11-21 14:47:15 -05:00
matlabbe
b862d6bc48 0.18.2: Added Odom/GuessSmoothingDelay parameter 2018-11-21 11:57:04 -05:00
matlabbe
5ae2f487b4 Odom: Updated error msg when invalid stamps are received 2018-11-19 18:19:24 -05:00
matlabbe
283c1df00c Fixed labels not correctly shown. Fixed planner not sending next goals when memory management is disabled. 2018-11-19 18:00:24 -05:00
matlabbe
bf2a9db5e4 Fixed memory usage for grid and statistics 2018-11-15 20:52:53 -05:00
matlabbe
9efd7c14fc Updated stereo block matching approach (when Stereo/OpticalFlow=false) 2018-11-13 14:25:21 -05:00
matlabbe
227f8c4f86 Camera: fixed freezing when changing online frame rate from non zero to zero 2018-11-10 11:43:58 -05:00
matlabbe
015c442f1c DetectMoreLoopClosures: update optimized poses and clear occupancy grid saved in database 2018-11-09 20:36:58 -05:00
matlabbe
8333677dc6 Improved/optimized Rtabmap timing performance for large datasets 2018-11-09 17:28:55 -05:00
matlabbe
3bb874825f Optimizer:getConnectedGraph() don't add poses not included in the input poses 2018-11-09 17:14:09 -05:00
matlabbe
c43bd6cd3f Fixed backward compatibility error with libpointmatcher < 1.3.0 2018-11-09 16:06:44 -05:00
matlabbe
5159171bf3 Fixed build with latest libpointmatcher version 2018-11-09 10:12:30 -05:00
matlabbe
c5057eb6b3 exportGraph: added RGBD-SLAM format (10) without motion capture coordinate transformation (#332) 2018-11-08 12:26:37 -05:00
matlabbe
433e20869c fixed #333 2018-11-08 10:52:12 -05:00
matlabbe
71ae076b44 BayesFilter: improved performance when prediction didn't change or only a new id is appended to prediction. Memory: fixed seg fault when using local bundle adjustment on loop closure and memory management is enabled. 2018-11-06 14:45:57 -05:00
matlabbe
09a63bbc5b Rtabmap::detectorMoreLoopClosures() added intraSession and interSession parameters 2018-11-05 18:40:08 -05:00
matlabbe
4f1deef971 Proximity detection by space: sort nearest paths by likelihood values 2018-11-05 14:24:04 -05:00
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
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
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