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
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
963aea5c0d
OccupancyGrid:segmentCloud() reset indices ptr to make sure the returned pointer is valid
2018-11-15 10:08:04 -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
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
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
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
711184c465
Windows: Fixed linker error
2018-10-02 00:07:34 -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
dbb9cfa77a
Parameters: Updated description of Rtabmap/TimeThr and Rtabmap/MemoryThr ( https://github.com/introlab/rtabmap_ros/issues/276 )
2018-09-28 15:37:24 -04:00
matlabbe
02fdd677cf
💄
2018-09-27 16:08:55 -04:00
matlabbe
3b74534567
Parameters: Mem/LaserScanNormalRadius should be a float
2018-09-27 14:28:51 -04:00
matlabbe
5e08da51aa
RealSense: fixed color rectification. Fixed ZR300 odometry frame.
2018-09-26 20:51:12 -04:00
matlabbe
c341648a44
Added parameter "Rtabmap/RectifyOnlyFeatures". Added support of fisheye distortion model.
2018-09-24 14:36:54 -04:00
matlabbe
829f05e2fb
Implemented missing max angular optimization error check for RGBD/OptimizeMaxError
2018-09-18 22:34:15 -04:00
matlabbe
0cf37fbbf1
Added D415 icon
2018-09-15 11:37:02 -04:00
matlabbe
30290c36d7
Rtabmap: Added deleteLastLocation() and rejectLastLoopClosure() methods
2018-08-29 12:29:11 -04:00
matlabbe
c105804572
Moved DBDriverSqlite3.h to installed headers (changed some members from private to protected for easier inheritance)
2018-08-27 16:54:23 -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
d5128ddc18
Added parameter Mem/CovOffDiagIgnored (default true)
2018-08-05 12:51:50 -04:00
matlabbe
a0342671ac
OccupancyGrid: added getCache() method
2018-08-02 16:53:44 -04:00
matlabbe
e03da92a90
FAST: disabled grid parameters by default
2018-07-27 16:41:19 -04:00
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
cfdee23d33
Statistics: added variance info of the loop closure/localization. GUI: Graph view option to show nodes on which loop closures/localizations happened
2018-07-26 14:40:16 -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
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
d41c15dbc7
Rtabmap::computePath() added tolerance parameter to overwrite default RGBD/LocalRadius
2018-07-09 15:11:19 -04:00
matlabbe
675da6201a
Added OdomLOAM/LocalMapping parameter
2018-06-28 11:30:21 -04:00
matlabbe
d447329bf1
Added LOAM (loam_velodyne) odometry support
2018-06-28 11:10:46 -04:00
matlabbe
10b452197d
fixed build without realsense
2018-06-19 14:00:26 -04:00
matlabbe
973bf93c77
RealSense: added depthScaledToRGBSize option to be able to feed ORB_SLAM2 with depth and RGB images with same size #287 .
2018-06-19 13:53:03 -04:00
matlabbe
502d5e75e8
CameraRealSense2: added IR-Depth mode option
2018-06-15 14:35:54 -04:00
matlabbe
eb4de8e724
Added RealSense2 driver to UI
2018-06-15 13:29:08 -04:00
