TSC21
be75c7591c
OptimizerG2O: fix slam2d prior types naming
2018-12-28 13:38:12 +00:00
TSC21
c21f466573
OptimizerG2O: fix EDGE_XYZ / XY_PRIOR exports
2018-12-27 17:08:54 +00:00
TSC21
308b1484e0
OptimizerG2O: check inverse of the information matrix values
2018-12-27 15:58:25 +00:00
TSC21
8beea1984e
Memory: pass globalPoseCovariance without inverting it
2018-12-27 15:06:29 +00:00
TSC21
cebecc3fc3
OptimizerG2O: add EDGE_XY_PRIOR and EDGE_XYZ_PRIOR to saveGraph
2018-12-27 13:22:15 +00:00
TSC21
81c4382349
OptimizerG2O: improve priors SE3/SE2 vs XYZ/XY logic
2018-12-27 12:48:24 +00:00
TSC21
b7f2eb8df9
OptimizerG2O: add XYZ/SE3 and XY/SE2 priors depending on the angular covariances
2018-12-26 16:30:40 +00:00
TSC21
97f956f138
Memory: readd GPS data as priors
2018-12-26 15:37:22 +00:00
matlabbe
85f0ab829a
Rtabmap: updated logic of small displacement updates (RGBD/LinearUpdate=0 means always update)
2018-12-13 13:30:50 -05:00
matlabbe
73004c643c
DbViewer: In graph view, nodes in latest working memory state are highlighted in red
2018-12-13 13:24:57 -05:00
matlabbe
ccbc802fe6
Fixed angular error check when abs angle error > PI
2018-12-10 20:20:52 -05:00
matlabbe
73378c4d56
fixed compilation warning
2018-12-09 14:16:51 -05:00
matlabbe
986db04cb9
Rtabmap::computePath() make sure the closest pose of the current location is a node, not a landmark
2018-12-07 20:43:46 -05:00
matlabbe
de32e53868
OctoMap: fixed not dense empty cells
2018-12-07 19:50:15 -05:00
matlabbe
200ec8e5db
0.18.3: added landmarks (graph optimization, localization, navigation)
2018-12-07 18:29:41 -05:00
matlabbe
b771aa00e0
LaserScan: Updated max points computation
2018-12-04 10:17:21 -05:00
matlabbe
f0ea8ab076
OdometryThread: fixed data buffer ignored if imu is always set
2018-12-01 00:53:36 -05:00
matlabbe
abbcc4f8a9
CameraFreenect: set accelerometer values in IMU member of SensorData. OdomF2M and OdomF2F: intialize orientation with gravity for the first frame if accelerometer value is valid in SensorData.
2018-12-01 00:25:48 -05:00
matlabbe
8a8f46c325
fixed #341
2018-11-29 18:21:12 -05:00
matlabbe
0167687c6b
Link: Covariances are added on merge when output is NeighborMerged (reduced graph)
2018-11-27 09:23:16 -05:00
matlabbe
ca27dbd2fe
Fixed #339 and #289
2018-11-21 14:47:15 -05:00
matlabbe
b862d6bc48
0.18.2: Added Odom/GuessSmoothingDelay parameter
2018-11-21 11:57:04 -05:00
matlabbe
5ae2f487b4
Odom: Updated error msg when invalid stamps are received
2018-11-19 18:19:24 -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
bf2a9db5e4
Fixed memory usage for grid and statistics
2018-11-15 20:52:53 -05:00
matlabbe
963aea5c0d
OccupancyGrid:segmentCloud() reset indices ptr to make sure the returned pointer is valid
2018-11-15 10:08:04 -05:00
matlabbe
9efd7c14fc
Updated stereo block matching approach (when Stereo/OpticalFlow=false)
2018-11-13 14:25:21 -05:00
matlabbe
227f8c4f86
Camera: fixed freezing when changing online frame rate from non zero to zero
2018-11-10 11:43:58 -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
3bb874825f
Optimizer:getConnectedGraph() don't add poses not included in the input poses
2018-11-09 17:14:09 -05:00
matlabbe
c43bd6cd3f
Fixed backward compatibility error with libpointmatcher < 1.3.0
2018-11-09 16:06:44 -05:00
matlabbe
5159171bf3
Fixed build with latest libpointmatcher version
2018-11-09 10:12:30 -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
433e20869c
fixed #333
2018-11-08 10:52:12 -05:00
matlabbe
71ae076b44
BayesFilter: improved performance when prediction didn't change or only a new id is appended to prediction. Memory: fixed seg fault when using local bundle adjustment on loop closure and memory management is enabled.
2018-11-06 14:45:57 -05:00
matlabbe
09a63bbc5b
Rtabmap::detectorMoreLoopClosures() added intraSession and interSession parameters
2018-11-05 18:40:08 -05:00
matlabbe
4f1deef971
Proximity detection by space: sort nearest paths by likelihood values
2018-11-05 14:24:04 -05:00
matlabbe
c2b1a9fbd7
Fixed long loading time of large working memory
2018-11-05 11:50:49 -05:00
Mathieu Labbé
961549d375
Updated CameraStereoFlyCapture2 with triclops new API
2018-11-01 17:17:38 -04:00
matlabbe
8087774961
Added contributor to CameraStereoTara files
2018-10-31 11:05:06 -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
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
c14e20330f
Fixed SIFT octave issue causing registration to always fail. Added Bundler export points option.
2018-10-24 20:01:57 -04:00
matlabbe
299bec15ff
DBReader: publish global pose if prior link is detected, negative image rate means now a ratio of the database stamps
2018-10-24 09:26:41 +12:00
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
8701ae6de0
Update OptimizerG2O.cpp
...
#323
2018-10-24 06:18:10 +12:00
matlabbe
d2c406f019
fixed build without g2o ( #323 )
2018-10-24 06:16:40 +12:00
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
