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
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
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
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
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
