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b862d6bc489d3c71306d8142feceb3c400c2d6fe
Commit Graph

955 Commits

Author SHA1 Message Date
matlabbe
b862d6bc48 0.18.2: Added Odom/GuessSmoothingDelay parameter 2018-11-21 11:57:04 -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
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
c5057eb6b3 exportGraph: added RGBD-SLAM format (10) without motion capture coordinate transformation (#332) 2018-11-08 12:26:37 -05:00
matlabbe
1784a0877f PostProcessingDialog: don't close dialog if validate failed 2018-11-05 18:49:50 -05:00
matlabbe
09a63bbc5b Rtabmap::detectorMoreLoopClosures() added intraSession and interSession parameters 2018-11-05 18:40:08 -05:00
matlabbe
fad1993a01 Preferences->Source: added Tara stack widget panel 2018-10-31 11:00:01 -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
bb4164a05d CloudViewer: added some getters 2018-10-30 17:42:43 -04:00
matlabbe
a43eccdac8 MainWindow: clear cacheLocalizationsCount when unchecking the option 2018-10-25 19:08:00 -04:00
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
1ef61db73b Bundler: fixed 3D points orientation, added color. 2018-10-24 20:34:53 -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
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
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
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
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
a1079761e7 fixed #317 2018-10-04 11:06:47 -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
95e87fed14 MLS: added output voxel size parameter 2018-09-28 09:45:43 -04:00
matlabbe
5e08da51aa RealSense: fixed color rectification. Fixed ZR300 odometry frame. 2018-09-26 20:51:12 -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
0cf37fbbf1 Added D415 icon 2018-09-15 11:37:02 -04:00
matlabbe
956f07785b Fixed build error (vtk version issue) 2018-08-28 17:29:20 -04:00
matlabbe
3e6f14f3bd CloudViewer: added camera Ortho mode context menu option 2018-08-28 17:07:36 -04:00
matlabbe
7cb39f02f2 CloudViewer: Reduced interactor motion from 10 to 5 2018-08-28 11:49:32 -04:00
matlabbe
f498cf1b1a CloudViewer: added getColor(id) and setColor(id) to change color of an actor 2018-08-25 11:41:28 -04:00
matlabbe
c0a2efe7e2 Fixed build with PCL <1.7.2 2018-08-24 16:17:30 -04:00
matlabbe
080d044c99 CloudViewer: added setInteractorLayer() function 2018-08-24 15:27:42 -04:00
matlabbe
cbf14bfa08 CloudViewer: set minimum ambiant light of 0.5 for all meshes 2018-08-23 16:18:04 -04:00
matlabbe
110f4a99ee CloudViewer: added addOrUpdateQuad() function 2018-08-23 11:59:24 -04:00
matlabbe
63af05ef88 CloudViewer: refactoring + added CloudViewerCellPicker class to ignore picking backfaces (when backface culling is on) 2018-08-21 16:11:05 -04:00
matlabbe
0c790005b2 ImageView: colormap not updated if depth cv image is not set 2018-08-17 15:30:13 -04:00
matlabbe
3ce6de573d ImageView: added depth colormap menu option 2018-08-17 15:28:23 -04:00
matlabbe
67aa4cd28e DbViewer: added decimation parameter for cloud visualization. ImageView: adding scaling to height menu option. 2018-08-17 14:01:11 -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
e0858a9c2a GraphView: added orientation visualization on nodes 2018-08-16 11:21:25 -04:00
matlabbe
714d95cc34 Removing redundant non null check before deleting a ptr in destructors #301 2018-08-09 15:53:47 -04:00