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b63590bf1dd727715e68f407087ab556248e06d7
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272 Commits
Author SHA1 Message Date
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 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 4632c7650f Reloading fixed dictionary when clearing memory 2018-07-12 10:06:02 -04:00
matlabbe 432b0dc6f6 fixed a build error 2018-06-01 16:33:11 -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 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 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 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 d2f7d8a9c4 ExportDialog: Added OpenChisel meshing option 2018-03-26 18:06:41 -04:00
matlabbe 420fecad51 Docker updated artful image. Memory: fixed 2x icp correspondence ratio error (>1.0) when creating registration for icp proximity detection 2018-03-22 11:22:47 -04:00
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
matlabbe 39b363d0b5 Memory: compute scan max range if not set on signature creation. 2018-02-23 15:52:59 -05:00
matlabbe 1bfde1f9f0 Neigbor refining can be done with any Registration approach. Memory::computeIcpTransformMulti(): correspondences ratio increased by two times to accept transform 2018-02-21 12:23:12 -05:00
matlabbe db1139e89e Gui: fixed default color for scans from odom in MainWindow and constraint view in dbviewer. Recovery/reprocess: fixed triggering new map on covariance >=9999. Reg: repeatOnce not done if it has a child. Statistics: added time proximity by space visual info. 2018-02-20 17:33:48 -05:00
matlabbe d181bedbfc Gui 3d rendering: added default color scheme option, added min and max range options for laser scans 2018-02-17 09:46:08 -05:00
matlabbe edbed67afe Windows: added missing RTABMAP_EXP in LaserScan class. Memory: fixed wrong laser scan format set when filtering is enabled. 2018-02-16 20:56:48 -05:00
matlabbe a947f8c783 Fixed 2d multi-scan matching fatal error 2018-02-16 20:23:42 -05:00
matlabbe d24097f73d 0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...) 2018-02-16 19:20:54 -05:00
matlabbe 4c0a612ab5 util3d_filtering: refactored implementations using templates. Parameters: Changed Grid/DepthMin|Max to Grid/RangeMin|Max, added Grid/PreVoxelFiltering, added GridBlobal/OctoMapOccupancyThr. OccupancyGrid: supporting input clouds already having normals. Memory: don't save working directory parameter to database. 2018-02-13 10:16:48 -05:00
matlabbe fced2c521c 0.16.0: Database updated with Data.empty_cells, Admin.opt_map, Admin.opt_map_x_min and Admin.opt_map_y_min fields. Changed Parameter Grid/ProjRayTracing to Grid/RayTracing (OctoMap ray tracing done for 3D local grids). Improved OctoMap performance. 2018-02-08 21:40:17 -05:00
matlabbe 977d21eed5 Update 0.15.4. 
Parameters:
-Added "GridGlobal/MaxNodes=0", "Rtabmap/PublishRAMUsage=false", "Mem/DepthAsMask=true", "Kp/FlannRebalancingFactor=2.0", "Vis/DepthAsMask=true".
-Modified "Kp/DetectorStrategy=6", "Kp/MaxFeatures=500",  "Mem/UseOdomFeatures=true", "GFTT/QualityLevel=0.001", "GFTT/MinDistance=3", "RGBD/OptimizeMaxError=1", "RGBD/ProximityPathFilteringRadius=1", "Odom/GuessMotion=true", "Odom/VisKeyFrameThr=150", "OdomF2M/BundleAdjustment=1", "Vis/Iterations=300" if built with g2o, "OdomF2M/BundleAdjustmentMaxFrames=10", "OdomFovis/MinFeaturesForEstimate=20", "OdomORBSLAM2/MapSize=3000", "Reg/RepeatOnce=true", "Vis/PnPRefineIterations=0" if built with g2o, "Vis/CorGuessMatchToProjection=true", "Vis/BundleAdjustment=1" if built with g2o, "Icp/MaxCorrespondenceDistance=0.1", "Icp/PointToPlaneK=5", "Icp/PointToPlaneRadius=1", "Icp/PM=true" if built with libpointmatcher, "Stereo/MaxLevel=5", "Stereo/MinDisparity=0.5".

BayesFilter: optimized prediction matrix update. Use of new argument "ignoreLocalSpaceLoopIds" of Memory::getNeighborsId() to ignore loop closure link by space in prediction update.
CameraThread: Added stereo exposure compensation option.
CameraRGB: Added forceGroundNormalsUp option and added support of ground truth from EuRoC dataset.
Statistics: Added "Memory/RAM_usage/MB".
Transform: Added clone() method to do deep copy.
Graph::importPoses(): EuRoC format support (9).
Rtabmap: Local visual loop closures are now identified as GlobalClosure link type.
OccupancyGrid/OctoMap: updated how cache is used (old node retrieved can be re-added to map without re-assembling the whole map).
OdometryF2F: when using ICP, increasing correspondence distance for first two frames. If Vis/CorType=1 and registration fails, second guess without motion is done with Vis/CorType=0.
OdometryF2M/RegVis: updated how features are removed from the map, using new projectedIDs filled in RegistrationInfo by RegistrationVis.
OdometryORBSLAM2: Maximum size of the feature map can be set with "OdomORBSLAM2/MapSize" parameter.
CloudViewer: fixed opengl camera drifting in follow mode.
DatabaseViewer: Added optimization scale option. ConstraintsView: hide loop closure links if type is ignored in gui parameters.
MainWindow: Support of "GridGlobal/MaxNodes" parameters when updating the maps.
UPlot: don't show ellipses when not in graphics view mode, updated how "random" colors are attributed to curves
Added rtabmap-euroc_dataset tool. Updated rtabmap-kitti_dataset and rtabmap-rgbd_dataset tools.
Added rtabmap-reprocess tool.
 2018-02-01 22:17:46 -05:00
matlabbe 4452e637ad 0.15.1: CameraImages: added ground truth time diff, fixed memory leak when loading binary scans. CameraRGBDImages and CameraStereoImages: fixed start id. Feature2D: added grid rows and cols parameters (Kp/GridRows, Kp/GridCols, Vis/GridRows, Vis/GridCols). OdomInfo: publish bundle frames. OdometryORBSLAM2: added OdomORBSLAM2/Fps and OdomORBSLAM2/MaxFeatures parameters. Registration: added Reg/RepeatOnce parameter and removed variance normalization. For util2d::getDepth() and util3d::projectDepthTo3D(), maxZError parameter is now depthErrorRatio to be dependent of the sensor range. Database: save image width and height from stereo calibration. OptimizerG2O: fixed SBA optimization when using g2o built from ORBSLAM2 library. OptimizerGTSAM: to increase optimization stability, all rotations in information matrix are divided by 100000. Added rtabmap-report tool. 2017-11-30 16:52:03 -05:00
matlabbe 400952b327 ProximitySpace: extracting all paths inside local radius up to max graph depth, no length limit of the proximity space links. Fixed local scan matching assembling bug when laser local transform is set. DbViewer: we can now refine proximity detection by space (laser scan matching). 2017-10-09 18:45:42 -04:00
matlabbe 49f9a1e8d7 Tango: fixed database saved in memory option when disabled (now disabled by default) 2017-10-08 21:55:27 -04:00
matlabbe 9691a4f361 Added GPS class for convenience, database viewer can view GPS values and export to KML format 2017-09-26 14:13:06 -04:00
matlabbe bfc393a090 0.14: added gps field to Node table in database (#226). Tango: saving gps if enabled, added Rename/Remove/Share on long click in Open dialog (fixed #233) 2017-09-21 20:59:45 -04:00
matlabbe fd18c0b2e9 Added Mem/LaserScanVoxelSize and OdomF2M/ScanSubtractAngle parameters. util3d::computeNormalsComplexity() now returns PCA's eigen vectors and values optionally. RegistrationIcp: detecting complexity of environment when PointToPLane is used, if too low, PointToPoint is done and movements are limited to main direction of the normals. 2017-09-19 14:15:17 -04:00
matlabbe 7ec58c63e9 SensorData/Memory: fixed assert for scan channels 5 an 7 2017-08-28 17:37:57 -04:00
matlabbe b70ffb6331 fixed multi scans matching with normals, removed some debug logs 2017-08-28 16:40:08 -04:00
matlabbe 423b47a5ff New 2d scan type: CV_32FC5 (x,y,normal_x,normal_y,normal_z) 2017-08-28 16:40:08 -04:00
matlabbe 52a4e8964f 0.13.3: scan2d with normals support/registration 2017-08-28 16:40:07 -04:00
matlabbe 1ed01b8d3d Memory: fixed cov->inf conversion error 2017-07-13 11:07:00 -04:00
matlabbe 78bdd4a087 Added check if covariance is invertible, if not an error is thrown 2017-07-12 16:41:47 -04:00
matlabbe ebada30984 Tango: updated UI 2017-06-28 13:59:20 -04:00
matlabbe ee8d48a915 Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat. 2017-06-20 17:29:06 -04:00
matlabbe d795bea543 fixed #201 2017-05-25 14:48:39 -04:00
matlabbe e8af8f7792 Added SensorData's globalPose and globalPoseCovariance field. Link: added new type PosePrior. g2o: adding edge prior for self-refering edges. Memory: adding self-refering link when SensorData's globalPose is set. 2017-05-22 21:05:34 -04:00
matlabbe 385b7e3389 Parameters: Added "Reg/VarianceNormalized". Registration: Transforms are now only normalized in Registration. Added rgbd_dataset tool. MainWindow: odom inliers-only shown option. ExportCloudsDialog: ignoring intermediate nodes for texturing (if they don't have data). DatabaseViewer: "optimized" checkbox enabled in Constraints view for non-neighbor links too. 2017-05-22 11:48:01 -04:00
matlabbe 104c1e6945 0.13.0 Database: Added velocity field to Node table, renamed Map_Node_Word table to Feature, added information_matrix field to Link table (replacing rot_variance and trans_variance). Added graph::calcKittiSequenceErrors().Added "Mem/IntermediateNodeDataKept" parameter (default false). Updated all interfaces using rotVariance and transVariance values with covariance matrix instead. g2o SBA: always use covariance in links. kitti-dataset tool: added --disp option and kitti statistics are shown at the end. StatsToolBox: units can have "/". 2017-05-11 15:02:18 -04:00
matlabbe e415dd8504 Fixed inf loop when all signatures are loaded in WM and if a signature has a -1 word 2017-04-04 12:26:06 -04:00
matlabbe d21ae76fff 0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool) 2017-03-12 21:21:09 -04:00
matlabbe a9b03bb39e Tango: 0.12.0 (performance optimization, time and memory) 2017-02-22 09:48:45 -05:00
matlabbe af1cdadabd Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph. 2017-02-15 19:07:10 -05:00
matlabbe f7616f6e94 Tango: update to 0.11.14 2017-02-05 17:24:45 -05:00
matlabbe 5c44082c42 updated log commment in memory when changing feature type 2017-02-04 09:27:35 -05:00
matlabbe 79a211ad02 RtabmapThread: changed state stack for a queue to process events in FIFO order (instead of FILO). Tango: Added detector type parameter (FREAK is now the default with 400 features). 2017-01-27 11:47:57 -05:00
matlabbe 00c93abd1b Memory: ignore reextract features when registration is not visual 2017-01-06 08:20:32 -05:00
matlabbe 8895173a2b Memory::computeTransform(): Fixed empty "from" image when reextract features is true and ICP-only registration is used 2017-01-05 19:31:18 -05:00
matlabbe f20cb6ff52 Preferences: fixed map opacity limited to 0.75 min. Making sure that normalized variances are set to epsilon if result is 0. 2017-01-05 18:08:20 -05:00