matlabbe
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933ac736f1
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Increased version 0.20.4. Added parameter Kp/ByteToFloat (default true to use less memory with kdtree and binary descriptors). Memory/Sqlite3: Setting weight to -9 for invalid nodes (to make sure they are not reloaded from database, to fix a graph reduced issue). Added 12-SURF/FREAK detector approach. rtabmap-info: added number of nodes in each sessions.
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2020-09-28 10:29:14 -04:00 |
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matlabbe
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eef0a23b1b
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Reprocess: added --skip option (to skip frames when reprocessing). Rtabmap: always save Loop/Map_id/ stat. UPlot: export NaN insted of NA for invalid values (compatible with octave). GraphViewer and ImageView: added support for PDF output format, also changed default directory to User's Pictures standard folder.
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2020-09-21 19:32:48 -04:00 |
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matlabbe
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29368ebdb3
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report: fixed database order in localization results
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2020-09-15 14:06:23 -04:00 |
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matlabbe
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a689d8a23f
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report: fixed how localization stats are split against localization sessions only
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2020-09-10 14:09:27 -04:00 |
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matlabbe
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1db17dd118
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rtabmap-report: added loc_delay option. Db info: added unused space
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2020-09-03 15:23:48 -04:00 |
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matlabbe
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23d8353540
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Rtabmap::detectMoreLoopClosures, use optimized graph as guess if RGBD/ProximityOdomGuess is true. Reprocess: added options to generate scan from depth image and/or pre-process input scans.
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2020-08-28 16:24:07 -04:00 |
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matlabbe
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96a628877c
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reprocess: when merging databases, return number of sessions merged when program exists. export: added --save_in_db option.
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2020-08-28 12:29:16 -04:00 |
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matlabbe
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4e32e8846c
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fixed build error
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2020-07-08 21:34:41 -04:00 |
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matlabbe
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6468245317
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Reprocess: added loc stats in motion, added option to export odom and loc poses in g2o format
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2020-07-08 21:25:14 -04:00 |
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matlabbe
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3505611fb5
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reprocess: set Mem/UseOdomFeatures to false if Kp/DetectorStrategy or Vis/FeatureType is overwritten (#566)
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2020-07-06 13:31:01 -04:00 |
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matlabbe
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e800662bac
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Fixed build with OpenCV >= 3.4.11
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2020-07-02 16:29:23 -04:00 |
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matlabbe
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0809946c66
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Windows: Fixed stereoRectifyFisheye.h 'cannot convert from cv::Mat to CvMat' compilation error with opencv >=3.4.4. Fixed k4a/k4atypes.h not found on guilib compilation.
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2020-06-30 23:18:31 -04:00 |
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matlabbe
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13679cc52a
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Export tool: fixed generated texture output directory
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2020-06-09 12:58:55 -04:00 |
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matlabbe
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4769fc235f
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Refactoring: set default local transform for camera drivers to opticalRotation. Added CameraModel::opticalRtotation() static function for convenience. Added CameraModel::load() from file directly for convenience. Added Camera::initFromFile() for convenience. Transform: Added opengl_T_rtabmap() and opengl_T_rtabmap() functions for convenience (convert back and forth between rtabmap world and opengl world coordinate frames)
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2020-06-08 11:40:47 -04:00 |
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matlabbe
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6029b6283d
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Rtabmap: Refactored how fake odom is generated in localization mode when no odom is provided. Trigger new map in localization mode also clears last localization pose if RGBD/SavedLocalizationIgnored is true.
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2020-06-08 10:14:21 -04:00 |
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matlabbe
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86ac63ab19
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UPlot: changed float to qreal (double). Added UPlot::frameData() function.
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2020-06-07 11:55:27 -04:00 |
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matlabbe
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7eae992d6f
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rtabmap-report: fixed map.at() error if the database as empty statistics
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2020-05-28 21:21:31 -04:00 |
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matlabbe
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69a2aacc8e
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Parameters: added SIFT/RootSIFT parameter.
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2020-05-21 17:09:20 -04:00 |
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Thomas Kircher
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013bd0c72a
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K4A device, fixed some stale edits (#553)
* Added Kinect for Azure menu option
* Reintegrated Kinect for Azure initialization code, fixed previous GUI commit
* Added ifdefs to fix build
* Added preliminary K4A device support
* Edits to K4A camera implementation
* K4A minor initialization fix
* Typo
* Another initialization fix
* Update CameraRGBD tool to display K4A camera output
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2020-05-20 19:36:15 -04:00 |
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matlabbe
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360a153565
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Parameters: Renamed SuperGlue group to PyMatcher group. Added OANet python script.
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2020-05-20 09:45:39 -04:00 |
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matlabbe
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c7b84c60bc
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Parameters: added Mem/StereoFromMotion (default false) and RGBD/ProximityOdomGuess (default false). Visual proximity detection is done before computing the loop closure transform (the later is ignored if visual proximity succeeded with a node close to loop closure, add Loop/Suppressed_hypothesis_id statistics to know when this happens). Changed Loop/Map_correction to Loop/Odom_correction (to better see the actual jumps of localization about /base_link frame, not /odom frame). util3d::generateWords3DMono() is now using openCV's implementation of five-point algorithm (this fixed some cases for which the older approach couldn't find any solution). UPlot: added scrolling area on the legend, added global legend option to show all curve statistics (mean, stddev,max). MainWindow's open dialog: reopen last directory when reopening a different database. ParametersToolBox: show default parameter value in tooltip. rtabmap-report: add --start option. rtabmap-reprocess: show details about proximity and loop detections, reset all localization statistics after changing database.
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2020-05-19 15:01:50 -04:00 |
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matlabbe
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55509c6c27
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Fixed build with OpencV 2.4 and Qt4
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2020-05-13 15:15:52 -04:00 |
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matlabbe
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d2673ed2fa
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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.
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2020-05-11 13:23:26 -04:00 |
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matlabbe
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cc9fd439fe
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SuperPoint: updated descriptor normalization process to match exactly the implementation in SuperGlue. generateWords3DMono: use variance at 25% instead of 50% of the sqrd variance vector (to do the same than with PnP), also fixed return camera transform to include local transform of the camera model. rtabmap-matcher: updated default parameters when no depth images are used, added reproj error in title bar.
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2020-05-10 14:13:41 -04:00 |
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matlabbe
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c44837a4cb
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Fixed build without SuperGlue
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2020-05-09 21:41:38 -04:00 |
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matlabbe
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91285e5e97
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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.
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2020-05-09 21:13:41 -04:00 |
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matlabbe
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1af139134e
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Deprecated Rtabmap::get3DMap(), use Rtabmap::getGraph() instead with setting to true the data flags. Rtabmap::getGraph() now ignores children nodes.
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2020-05-06 08:04:58 -04:00 |
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matlabbe
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46886f2637
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Report: added invert and ids options. Reprocess: show node id along map id when processing.
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2020-04-30 17:00:09 -04:00 |
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matlabbe
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40804d9120
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Statistics: added x,y,z map corrections. Report: added options --stats to show available statistics to plot in a database
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2020-04-30 15:48:47 -04:00 |
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matlabbe
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14ec619b1e
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Added MYNT EYE S support. Fixed StereoCameraModel rectification not done with non-square images, also updated to support fisheye model.
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2020-04-30 00:57:47 -04:00 |
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matlabbe
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66fca15cc6
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Added rtabmap-info console tool
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2020-04-24 13:45:41 -04:00 |
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matlabbe
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94360e19e0
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DBReader: changed maxFrames option to stopId and startIndex to startId. Reprocess: added options to start and stop at specific ids in the database.
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2020-04-22 16:20:29 -04:00 |
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matlabbe
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7cfc51315d
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CMake: find octomap instead of OCTOMAP #529
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2020-04-18 16:03:09 -04:00 |
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matlabbe
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1b4b1c2832
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Report: add compilation when qt is not used
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2020-04-09 11:00:42 -04:00 |
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matlabbe
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b7bed0d1a5
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Report: ignore total slam time on intermediate nodes
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2020-03-12 14:12:00 -04:00 |
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matlabbe
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dceec711e0
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report: added --loop option to compute loop closure errors
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2020-03-01 14:11:37 -05:00 |
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shovington
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d0f84f9460
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add option to create a report.csv file in /tools/Report (#512)
Co-authored-by: John <john.bobzwik@gmail.com>
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2020-02-27 16:28:02 -05:00 |
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matlabbe
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2d7ab7bdef
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Report: support Odometry/TimeEstimation/ms from ros
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2019-12-11 11:33:19 -05:00 |
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matlabbe
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1d7dee8976
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kitti-tool: fixed no scan bug when using velodyne odom
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2019-12-10 18:39:39 -05:00 |
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matlabbe
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179f17d267
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0.19.6: Added auto brightness/contrast and texture format options to multiband approach. rtabmap-export moved from examples to tools directory.
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2019-11-03 14:10:02 -05:00 |
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matlabbe
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d360420204
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report tool: exporting poses in RGB-D dataset format by default, also exporting odom, slam and gt poses.
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2019-09-29 19:38:54 -04:00 |
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matlabbe
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3c7719f6d8
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Added CameraK4A driver (only MKV playback supported yet). Fixed build with realsense2 support on Windows. Preferences: added imu filtering parameters to ini file.
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2019-07-09 20:48:09 -04:00 |
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matlabbe
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4c8af6d6e9
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fix build errors with opencv2, added Transform::getClosestTransform() function for convenience.
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2019-05-31 16:51:37 -04:00 |
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matlabbe
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e887d462ce
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Memory: Added parameter Mem/UseOdomGravity, adding kGravity links when creating a node if IMU is present or Mem/UseOdomGravity is set. Fixed OpenCV4 related build errors on stereo fisheye rectification code. Signature: changed links from map to multimap to support having multiple self references (prior, gravity constraints...). DBReader: publish IMU orientation if a gravity link is detected.
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2019-05-31 15:36:35 -04:00 |
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matlabbe
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f8a8e55e7e
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UI: Update preferences with the new imu filter parameters. Camera: added imu filtering option. Updated support for zedm, D435i and T265.
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2019-05-13 18:42:46 -04:00 |
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matlabbe
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e6f471d88e
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Added imu to odom bundle adjustment. Added IMUFilter classes. Changed Aruco parameter prefix to Marker. Zed: publishing IMU data.
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2019-05-07 18:57:53 -04:00 |
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matlabbe
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630b565cd4
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reprocess: added double dash support for arguments for convenience. Rtabmap: fixed typo in localization verification by odom graph optimization.
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2019-04-29 17:11:29 -04:00 |
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matlabbe
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125d532e95
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Added graph::calcRelativeErrors() and option --relative for report. Added skip frames option on rgbd_dataset tool.
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2019-04-27 20:39:40 -04:00 |
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matlabbe
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a0f74eaee2
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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.
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2019-04-18 19:50:58 -04:00 |
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matlabbe
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38cdc76790
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reprocess: added more localization info
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2019-04-17 14:57:15 -04:00 |
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