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79 Commits
Author SHA1 Message Date
matlabbe d2673ed2fa Added GMS matching approach (Vis/CorNNType=7). Added GMS/ parameters. Added SuperGlue/Indoor parameter. ImageView: updating feature and line colors directly when changing color (option menu), fixed items already added to scene warning when switching to GraphicsView. 2020-05-11 13:23:26 -04:00
matlabbe 91285e5e97 Added SuperGlue support (Vis/CorNNType=6). Added rtabmap-matcher tool. DBViewer: show matches/inliers when refine also fails. SIFT: make sift always available on OpenCV 4.3.0 (#538). Parameters: changed SPTorch prefix to SuperPoint, replaced Vis/CorCrossCheck by Vis/CorNNType=5. 2020-05-09 21:13:41 -04:00
matlabbe f575652456 0.19.7: added SuperPoint Torch feature support. RegVis: keep Feature2D detectors as class members instead of recreating them at each registration. 2020-04-16 17:59:45 -04:00
matlabbe 2afa76c07c AliceVision integration, see util3d::multiBandTexturing() 2019-10-28 21:16:02 -04:00
matlabbe 536f001479 Added OptimizerCeres class (Optimizer/Strategy=3) 2019-08-17 03:55:04 -04:00
matlabbe 4b118ae660 Added FastCV support (see FAST/CV parameter). VWDictionary: loading fixed dictionary only on updates (to avoid loading it multiple times when memory is reset). 2019-08-14 12:09:56 -04:00
matlabbe d205683eb5 Added parameters Vis/MeanInliersDistance and Vis/MinInliersDistribution 2019-06-16 18:54:39 -04:00
matlabbe e6f471d88e Added imu to odom bundle adjustment. Added IMUFilter classes. Changed Aruco parameter prefix to Marker. Zed: publishing IMU data. 2019-05-07 18:57:53 -04:00
matlabbe a0f74eaee2 Added new 2d feature ORB OcTree (approach used in ORB_SLAM2). report tool: fixed assert caused by bidirectional links. detectModeLoopClosures tool: check if input path exists. 2019-04-18 19:50:58 -04:00
matlabbe e7b3a7735d Parameters.cpp: fixed build without VTK 2019-04-05 20:51:57 -04:00
matlabbe 727e4fe672 Updated --version info 2019-04-02 14:07:54 -04:00
matlabbe 7fdd212462 rtabmap-reprocess supports multiple input databases. Arguments "--params map.db" output parameters of the database in INI format 2018-10-12 15:53:44 -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 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 b8847fd006 0.17.5: added --version option on command line 2018-08-14 14:21:44 -04:00
matlabbe 15e09cd0a8 Devel: new feature msckf_vio 2018-07-14 20:40:44 -04:00
matlabbe d34a529116 Added Rtabmap/StartNewMapOnGoodSignature parameter 2018-05-24 14:53:47 -04:00
matlabbe fa174be741 Updated rtabmap-kitti tool 2018-05-10 13:14:07 -04:00
matlabbe bfce5cceb5 Fixed #275. Removed Grid/Scan2dMaxFilledRange parameter (use Grid/RangeMax instead). 2018-04-14 16:48:29 -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 4c0a612ab5 util3d_filtering: refactored implementations using templates. Parameters: Changed Grid/DepthMin|Max to Grid/RangeMin|Max, added Grid/PreVoxelFiltering, added GridBlobal/OctoMapOccupancyThr. OccupancyGrid: supporting input clouds already having normals. Memory: don't save working directory parameter to database. 2018-02-13 10:16:48 -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 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 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 e595f564b1 Parameters: removed Mem/LaserScanVoxelSize from getRemovedParameters() 2017-10-12 17:03:09 -04:00
matlabbe 52a4e8964f 0.13.3: scan2d with normals support/registration 2017-08-28 16:40:07 -04:00
matlabbe 2a9508b4e3 Fixed build for Lunar 2017-08-03 16:40:12 -04:00
matlabbe f3e491f15b Added KAZE feature detector (OpenCV3) 2017-07-25 16:20:05 -04:00
matlabbe f9ed36ed54 Parameters: renamed Rtabmap/VhStrategy to VhEp/Enabled 2017-07-05 13:38:27 -04:00
matlabbe 26147c97cf PArameters: don't show usage with ORBSLAM2 parameters if not built with it. 2017-06-05 19:10:04 -04:00
matlabbe 133ed68152 Parameters --params: don't show those related to dependencies not built in RTAB-Map 2017-05-31 11:33:51 -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 1b71a96a3d Added rtabmap-kitti_dataset tool 2017-04-24 12:17:18 -04:00
matlabbe 6f148c47e2 0.12.15 Parameters: added "GridGlobal" parameter group, fixed https://github.com/introlab/rtabmap_ros/issues/162 2017-04-10 16:59:48 -04:00
matlabbe 17121d5861 Added parameter "Grid/ProjRayTracing" and renamed "Grid/3DGroundIsObstacle" to "Grid/GroundIsObstacle" 2017-03-01 14:06:21 -05:00
matlabbe 121446d648 Removed parameter "OdomF2M/FixedMapPath". GUI: added odometry disabled option. Rtabmap can now localize even if odometry input is null (only in localization mode). 2016-11-27 14:30:11 -05:00
matlabbe 693f623e5e Fixed GUI crash when using rectified RGB only (with odometry). Fixed empty local map when loading a fixed local map for OdometryF2M. 2016-11-25 19:52:34 -05:00
matlabbe a3afc249ef Fixed old parameters ignored when reading config file from GUI 2016-11-17 16:08:55 -05:00
matlabbe ed83d90603 RTAB-Map.exe can be started with parameters as arguments (in similar way than rtabmap-console) 2016-11-16 17:39:17 -05:00
matlabbe 9276607920 Added Bundle Adjustment options to OdometryF2M (OdomF2M/BundleAdjustment) and RegistrationVis (Vis/BundleAdjustment). Added logger thread filter. RegistrationVis: Copy back corresponding input word IDs to output words when available. Memory::computeTransform() added option to use already computed corespondences if possible (proximity detection by time uses this). Updated Optimizer::optimizeBA() interface. 2016-11-14 19:54:31 -05:00
matlabbe c404234635 OccupancyGrid: added Grid/Footprint*** parameters, templated segmentCloud() function, added Grid/ClusterRadius parameter. Parameters: fixed getDefaultParameters(group) function to correctly compare groups. 2016-08-31 12:43:54 -04:00
matlabbe 013eba1d58 0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes. 2016-08-31 12:43:53 -04:00
matlabbe 6ef9034a67 Fixed ICP-only odometry when guess from motion is enabled 2016-08-07 20:54:56 -04:00
matlabbe ca6cd19fb1 Updated Copyright year and About dialog summary 2016-07-17 21:57:10 -04:00
matlabbe 517bfa5272 OdometryF2M: updated how local scan map is updated 2016-06-25 13:18:09 -04:00
matlabbe d03b54d95a Parameters: removed trailing 0 for double/float parameters, to avoid serializing with them (so that we don't have the 0.0 != 0 when loading parameters from database) 2016-06-16 15:34:27 -04:00
matlabbe 38a7993a9b Database: added "parameters" field in Statistics table. GUI: detecting if parameters in database are different from the Preferences, if so ask user to update them. 2016-06-13 17:34:17 -04:00
matlabbe 4a3f490814 Added Reg/Force2D compatibility name for Reg/Force3DoF 2016-06-09 15:49:17 -04:00
matlabbe 9f6af75f79 Local scan matching: set larger scan points for max scan points when it is not set. Fixed missing scan Ids in links' user data to correctly visualize proximity links by space in DatabaseViewer. CloudViewer: using line instead of arrow between the referential and the frustum. removed parameter "RGBD/ProximityPathScansMerged" as visual proximity by space already does that. 2016-05-20 11:44:50 -04:00
matlabbe dece54ca3e Added parameters: Mem/ImagePreDecimation Mem/ImagePostDecimation Odom/ImageDecimation 2016-04-08 16:15:08 -04:00