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212 Commits
Author SHA1 Message Date
matlabbe 42199eefd2 Added --poses option to report tool. Reprocess tool: Export ground/obstacles when 3d map is created. 2018-02-06 11:31:39 -05:00
matlabbe 8ca3bca810 Fixed build error in rtabmap-reprocess without octomap. Fixed non c++11 build for BayesFilter. 2018-02-02 13:12:14 -05:00
matlabbe 70991cf173 fixed a compilation warning and updated usage of benchmarking tools 2018-02-02 08:51:38 -05:00
matlabbe 4991d3dbab fixed yaml-cpp optional requirement 2018-02-02 08:27:49 -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 d6058768fc RegVis: fixed out-of-range vector error when guess is used and we match to projections. ImageView: Added right-click menu option to set a fixed size for features 2017-12-18 14:38:54 -05:00
matlabbe 775b80eff5 0.15.2: Fixed Transform's not orthogonal rotation matrix causing problems with GTSAM (normalize rotation each time transforms are multiplied, and for backward compatibility automatically normalize rotation of all transforms loaded from old databases prior to 0.15.2). Added Vis/CorGuessMatchToProjection, Icp/PMMatcherKnn and Icp/PMMatcherEpsilon parameters. CameraRGB: fixed max scans number when filtering. Link: transfering maximum covariance when merging. OptimizerGTSAM: updated how covariance are copied based on GTSAM official example. util3d::loadBINCloud(): fixed dim parameter not used. DatabaseViewer: Added option in graph view to ignore intermediate nodes when optimizing the graph. 2017-12-09 21:44:53 -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 cc7db6190f fixed --quiet option in dataset tools 2017-11-09 12:48:47 -05:00
matlabbe 71d9816f4b 0.15: statistics are now compressed in database. Eigen issue: using linear() instead of rotation() to get rotation from affine3f. Increased loading speed of statistics in DatabaseViewer. Added graph:calcRMSE(). 2017-11-09 12:03:01 -05:00
matlabbe 7dabfdc207 Added CameraK4W2 (Kinect for Windows SDK v2 driver) 2017-11-06 00:19:12 -05:00
matlabbe c880366aaf Removed pcl visualization dependency from core lib 2017-10-24 10:05:39 +02:00
matlabbe 521126c982 fixing docker latest build (exit not defined) 2017-10-13 09:29:13 -04:00
matlabbe d4248385f0 Added rtabmap::databaseRecovery() function, added rtabmap-recovery tool, added "Database recovery" menu action in DbViewer 2017-10-11 19:36:00 -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 ef4aff7d34 fixed gps fields missing in non-android build 2017-09-21 21:28:39 -04:00
matlabbe b737df9c40 Merge branch 'devel' of https://github.com/introlab/rtabmap 2017-09-19 14:40:19 -04:00
matlabbe aca005c287 Added parameter "IcpPointToPlaneMaxComplexity". Added util3d::computeNormalsComplexity(). OdomInfo has now RegistrationInfo field to avoid duplicating members. 2017-09-11 13:17:53 -04:00
matlabbe 68fb5d7252 Calibration tool: fixed usb stereo option 2017-09-08 11:30:29 -04:00
matlabbe 52a4e8964f 0.13.3: scan2d with normals support/registration 2017-08-28 16:40:07 -04:00
matlabbe 84af88ee40 Update main.cpp 2017-08-17 10:37:28 -04:00
matlabbe 4ac422314d fixed some compilation warnings 2017-06-09 13:44:09 -04:00
matlabbe 6f9ac4b88b fixed some compilation warnings 2017-05-23 17:30:23 -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 51c353e504 DatabaseViewer: Added ground truth statistics 2017-04-24 13:04:31 -04:00
matlabbe 1b71a96a3d Added rtabmap-kitti_dataset tool 2017-04-24 12:17:18 -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 bf01a1d138 consoleApp: fixed redefined i 2017-01-07 15:04:36 -05:00
matlabbe 74ae1429a1 Camera tool: fixed compilation warning 2017-01-06 13:57:07 -05:00
matlabbe 6550a52cee fixed #152 2016-12-05 15:53:19 -05:00
matlabbe 43ff7e4b3e rtabmap-console: added "skip" option for convenience 2016-11-17 16:18:19 -05:00
matlabbe cb31a717cf rtabmap-console: added fake initialization at startup to make sure all external libraries are loaded before processing the first frame 2016-11-15 16:49:58 -05:00
matlabbe 60c406d6ec EipolarGeometry: added missing dictionary.update() 2016-10-23 14:01:44 -04:00
matlabbe acb700bd27 Added OpenNI2 and Freenect calibration #115 2016-09-13 18:26:18 -04:00
matlabbe 9d09c509ab Added librealsense support #100 2016-07-26 18:39:34 -04:00
matlabbe ca6cd19fb1 Updated Copyright year and About dialog summary 2016-07-17 21:57:10 -04:00
matlabbe 4cd8705710 Fixed cloudFromDepth() method when depth image is not the same size as the calibration file. That fixes projection map created from Tango databases (where depth size != rgb size) 2016-07-08 12:47:23 -04:00
matlabbe ca95c9de97 Changed an OpenCV_LIBS to OpenCV_LIBRARIES 2016-06-24 21:00:12 -04:00
matlabbe 0ec39e3c77 DBReader now inherits from Camera (so that CameraThread's post processing stuff can be used with a database stream) 2016-06-21 11:22:24 -04:00
matlabbe d9611f784c Added ZED parameters 2016-06-02 17:27:12 -04:00
matlabbe 6f1f490370 0.11.7: Added ZED sdk support 2016-05-31 19:09:49 -04:00
matlabbe ad0afc58c0 Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget. 2016-05-05 18:25:26 -04:00
matlabbe b8c2cd9f94 Auto detect which Qt version to use (Qt5 has priority if both are installed). ROS Kinetic fix for vtk libproj.so not found bug. 2016-05-04 16:45:19 -04:00
matlabbe 30777b630a Fixed issue #10 (missing one iteration on rtabmap-console) 2016-03-29 13:07:32 -04:00
matlabbe d6eb923bef Fixed build for C++03 2016-03-14 18:08:05 -04:00
matlabbe 56bf2b788f ConsoleApp: parsing rtabmap parameters before app's parameters 2016-03-11 17:01:52 -05:00
matlabbe 0ae17ff17d Added Parameters::parseArguments() and Parameters::showUsage() functions for convenience. Updated OdometryViewer and Console tools to use parseArguments(). 2016-03-11 16:54:54 -05:00
matlabbe ccc4b4a6c2 Parameters renamed: "OdomLocalMap" group is now "OdomF2M" for Frame to Map odometry. Visual registration feature matching: using guess transform to limit the radius of correspondences "Vis/CorGuessWinSize=16" 2016-02-22 16:13:14 -05:00
matlabbe eb21280f04 Changed CameraModel::isValid() to CameraModel::isValidForProjection() for clarity (in contrast to CameraModel::isValidForRectification()) 2016-01-19 21:01:56 -05:00