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429 Commits

Author SHA1 Message Date
matlabbe
9f31830f03 Install system libraries only in BUILD_AS_BUNDLE mode, install vcomp###.dll is built with openmp 2018-10-11 15:19:20 -04:00
matlabbe
e4098cb54b Fixed GTSAM search by ignoring findGTSAM.cmake file from PCL 2018-10-11 14:28:41 -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
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
c341648a44 Added parameter "Rtabmap/RectifyOnlyFeatures". Added support of fisheye distortion model. 2018-09-24 14:36:54 -04:00
matlabbe
124543c57d Fixed compilation errors with OpenCV 4.0.0 (#309) 2018-09-18 22:43:18 -04:00
matlabbe
d936b2d35a Added '*' to cmake info to show dependencies affecting default parameters 2018-09-18 17:00:37 -04:00
matlabbe
3c15563569 fixed sqlite3 cmake info not correctly shown 2018-09-05 15:03:50 -04:00
matlabbe
43e144e7b6 CMake: using external sqlite3 is available, otherwise use internal copy. 2018-09-05 14:22:34 -04:00
matlabbe
3c1095be65 Windows: BUILD_AS_BUNDLE option should now be set to ON to create package with all dependencies embedded, otherwise only rtabmap libraries and headers are installed (like default on linux and Mac). 2018-09-04 15:44:37 -04:00
matlabbe
89f27e84d0 💄 2018-08-29 15:36:53 -04:00
matlabbe
94178c8cde LOAM: set back to ON by default as the pull request (https://github.com/laboshinl/loam_velodyne/pull/66) has been integrated 2018-08-29 14:38:50 -04:00
matlabbe
b8847fd006 0.17.5: added --version option on command line 2018-08-14 14:21:44 -04:00
matlabbe
ae226cb1a2 0.17.4 (integrated MSCKF odom approach) 2018-07-23 15:56:53 -04:00
matlabbe
a7e70ab80b Set LOAM default off as a special pull request should be used to use it as a library without ros 2018-07-20 19:41:50 -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
b783df397a fixed a cmake warning 2018-07-03 10:13:22 -04:00
matlabbe
d447329bf1 Added LOAM (loam_velodyne) odometry support 2018-06-28 11:10:46 -04:00
matlabbe
a3bdb027e7 0.17.3: realsense2 and zed-m support 2018-06-15 14:37:22 -04:00
matlabbe
2060e0b1da Added CameraRealsSense2 driver (tested only with D435) 2018-06-15 12:24:00 -04:00
matlabbe
dfcd7ae1a8 Added QT_NO_KEYWORDS definition to avoid conflicts between boost and qt macros 2018-06-15 12:17:11 -04:00
matlabbe
1914275fa8 0.17.2: compute marginals (covariance) on graph optimization 2018-05-30 15:35:08 -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
8d5d50a198 Fixed 2 cmake minor warnings on standard build 2018-05-02 12:46:45 -04:00
matlabbe
bfce5cceb5 Fixed #275. Removed Grid/Scan2dMaxFilledRange parameter (use Grid/RangeMax instead). 2018-04-14 16:48:29 -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
99acc9a6e7 Windows: Reordered libraries with gtsam at the end (which is static on Windows) 2018-03-28 11:04:18 -04:00
matlabbe
d886c788e7 Fixed CMake keeping old install version path when changing version 2018-03-27 15:50:27 -04:00
matlabbe
d2f7d8a9c4 ExportDialog: Added OpenChisel meshing option 2018-03-26 18:06:41 -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
297cf3f51e 0.16.2: Added wm_state field to database's Statistics table. New parameter "Rtabmap/SaveWMState" (default false). DbViewer: added option in GraphView to show only poses of the root id that were in WM at that time 2018-02-21 18:19:20 -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
c2d0628da1 Fixed compilation errors with octomap < 1.8 2018-02-09 10:53:39 -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
90ed9cd15c Added support for latest g2o code (with c++11 interface) 2018-02-03 15:43:32 -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
398ca1f8e4 0.15.3: util3d::computeVarianceAndCorrespondences(): added max angle parameters for normal type. util3d::downsample(): added Normal types support. OccupancyGrid: fixed 2d scan with 5 channels not handled correctly on update. 2017-12-13 18:12:40 -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
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
e40a7d6681 0.14.3: exposed all gui widgets to public API. CloudViewer: fixed camera orientation reset 2017-10-20 12:09:34 +02:00
matlabbe
bcf65d4cae Windows: qvtk missing lib on apps building against rtabmap 2017-10-17 11:13:17 +02:00
matlabbe
ab0aad87ec Increased ZED version requirement to 2 2017-10-11 16:44:53 -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
81c8e1b192 Tango: add Maximum Motion Speed option (default low) to avoid blurry images 2017-09-28 17:15:53 -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