matlabbe
262d74d1e3
fixed a compilation error
2019-08-01 16:29:44 -04:00
matlabbe
6767c2ade2
0.19.5: added Icp/RangeMin and Icp/RangeMax parameters
2019-08-01 16:21:01 -04:00
matlabbe
89f1e809e6
CameraK4A: use mkv framerate if camera rate is -1. Preferences/Source: fixed imu filter parameters not reset on restore defaults
2019-07-11 18:13:20 -04:00
matlabbe
3c7719f6d8
Added CameraK4A driver (only MKV playback supported yet). Fixed build with realsense2 support on Windows. Preferences: added imu filtering parameters to ini file.
2019-07-09 20:48:09 -04:00
matlabbe
d205683eb5
Added parameters Vis/MeanInliersDistance and Vis/MinInliersDistribution
2019-06-16 18:54:39 -04:00
matlabbe
85edc57ba5
Added RGBD/MaxLocalizationDistance parameter
2019-06-12 16:03:52 -04:00
matlabbe
b5f5623af4
CameraRealSense2: updated how stamping is done, updated default D435 frame resolution/fps
2019-06-06 17:17:11 -04:00
matlabbe
e887d462ce
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.
2019-05-31 15:36:35 -04:00
matlabbe
71f7515775
Added resolution parameters for Usb camera and realsense2 sources
2019-05-15 19:21:32 -04:00
matlabbe
f8a8e55e7e
UI: Update preferences with the new imu filter parameters. Camera: added imu filtering option. Updated support for zedm, D435i and T265.
2019-05-13 18:42:46 -04:00
matlabbe
d4b4379829
Added T265 support (stereo-only yet)
2019-05-09 19:20:26 -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
195f6147ad
DBViewer: added feature/line color menu option. CameraImages/DBReader: added maxFrames parameter
2019-04-26 19:20:35 -04:00
matlabbe
a5350c4891
Optimizer: fixed bad g2o optimizations on 2d slam when there are 3D landmarks ( #384 ). DBViewer: landmarks can be now visualized.
2019-04-26 14:03:25 -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
9b63297a6b
New parameter "RGBD/MaxOdomCacheSize" used in localization mode to reject similar locations (default disabled)
2019-04-05 19:37:40 -04:00
matlabbe
fc9c762516
Added Optimizer/GravitySigma parameter (with GTSAM support).
2019-03-31 15:51:50 -04:00
matlabbe
c0a7c3a344
0.19.1: Added OdometryVINS (VINS-Fusion integration, Odom/Strategy=9)
2019-03-18 20:45:34 -04:00
matlabbe
cf4db63226
New parameter: OdomF2M/ValidDepthRatio
2019-03-06 12:35:54 -05:00
matlabbe
530da08145
Added Aruco/MaxDepthError parameter
2019-03-01 18:34:49 -05:00
matlabbe
d6ca37a9e7
Integration of OpenCV's ArUco Marker Detection (see new parameter "RGBD/MarkerDetection")
2019-02-18 18:19:55 -05:00
matlabbe
38b8746507
Added Mem/ImageCompressionFormat parameter (default .jpg)
2019-02-11 15:23:38 -05:00
matlabbe
76ef2c4b0e
CameraStereoZed: added odomForce3DoF option
2019-01-28 17:05:15 -05:00
matlabbe
c13267599e
MainWindow: Re-added rotation of the map on the graph view based on gps, if used and if priors are ignored by optimizer
2019-01-16 20:25:14 -05:00
matlabbe
9da2c1918f
CameraImages: moved scan filtering stuff to CameraThread
...
Preferences->Source: refactored scan filtering parameters
OdometryF2M and OdometryF2F: moved odom orientation init from IMU to OdometryROS instead
2019-01-15 15:41:07 -05:00
matlabbe
200ec8e5db
0.18.3: added landmarks (graph optimization, localization, navigation)
2018-12-07 18:29:41 -05:00
matlabbe
b862d6bc48
0.18.2: Added Odom/GuessSmoothingDelay parameter
2018-11-21 11:57:04 -05:00
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
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
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
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
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
124543c57d
Fixed compilation errors with OpenCV 4.0.0 ( #309 )
2018-09-18 22:43:18 -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
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
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
c8100e1464
Gui: show graph color based on visual features
2018-07-09 11:33:39 -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
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
matlabbe
dfcd7ae1a8
Added QT_NO_KEYWORDS definition to avoid conflicts between boost and qt macros
2018-06-15 12:17:11 -04:00
matlabbe
c6d893bc98
MainWindow: Odometry visualization not updated if msgs are received faster than they can be visualized. ZED: self-calibration set to true by default (should be true for ZED-M vio)
2018-06-14 17:25:35 -04:00
matlabbe
7424a1f463
When Mem/DepthAsMask is false, features without depth are triangulated using odometry. Added parameter RGBD/LocalBundleOnLoopClosure.
2018-06-01 16:26:09 -04:00
matlabbe