matlabbe
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9ae47b79f9
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Working MSCKF
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2018-07-18 16:15:41 -04:00 |
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matlabbe
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15e09cd0a8
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Devel: new feature msckf_vio
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2018-07-14 20:40:44 -04:00 |
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matlabbe
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35bc2d06a6
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Fixed building with RealSense2 on Windows
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2018-07-10 13:09:52 -04:00 |
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matlabbe
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d41c15dbc7
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Rtabmap::computePath() added tolerance parameter to overwrite default RGBD/LocalRadius
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2018-07-09 15:11:19 -04:00 |
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matlabbe
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675da6201a
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Added OdomLOAM/LocalMapping parameter
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2018-06-28 11:30:21 -04:00 |
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matlabbe
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d447329bf1
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Added LOAM (loam_velodyne) odometry support
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2018-06-28 11:10:46 -04:00 |
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matlabbe
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10b452197d
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fixed build without realsense
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2018-06-19 14:00:26 -04:00 |
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matlabbe
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973bf93c77
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RealSense: added depthScaledToRGBSize option to be able to feed ORB_SLAM2 with depth and RGB images with same size #287.
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2018-06-19 13:53:03 -04:00 |
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matlabbe
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502d5e75e8
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CameraRealSense2: added IR-Depth mode option
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2018-06-15 14:35:54 -04:00 |
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matlabbe
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eb4de8e724
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Added RealSense2 driver to UI
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2018-06-15 13:29:08 -04:00 |
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matlabbe
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2060e0b1da
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Added CameraRealsSense2 driver (tested only with D435)
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2018-06-15 12:24:00 -04:00 |
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matlabbe
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c6d893bc98
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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)
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2018-06-14 17:25:35 -04:00 |
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matlabbe
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7424a1f463
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When Mem/DepthAsMask is false, features without depth are triangulated using odometry. Added parameter RGBD/LocalBundleOnLoopClosure.
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2018-06-01 16:26:09 -04:00 |
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matlabbe
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1914275fa8
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0.17.2: compute marginals (covariance) on graph optimization
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2018-05-30 15:35:08 -04:00 |
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matlabbe
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b6b0b9a984
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Refactored and integrated pull request https://github.com/introlab/rtabmap/pull/285
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2018-05-29 13:59:43 -04:00 |
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matlabbe
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c68dde70ec
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Memory: added getDatabaseUrl() function
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2018-05-25 13:54:29 -04:00 |
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matlabbe
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d34a529116
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Added Rtabmap/StartNewMapOnGoodSignature parameter
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2018-05-24 14:53:47 -04:00 |
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matlabbe
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df7539a48e
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Update Parameters.h
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2018-05-17 11:10:00 -04:00 |
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matlabbe
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9c91fb8cd8
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0.17.1: Fixed issue #282 and https://github.com/introlab/rtabmap_ros/issues/243
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2018-05-14 20:50:21 +00:00 |
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matlabbe
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bb0b12be27
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Updated not incremental dictionary approach for save/reload (can set a database path as dictionary for convenience)
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2018-05-08 18:50:39 -04:00 |
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matlabbe
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8fec570c13
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Added Rtabmap::setInitialPose()
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2018-04-30 14:49:41 -04:00 |
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matlabbe
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b044bae304
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DbViewer: added menu actions to view/update/export optimized mesh saved in database. CloudViewer: cubes can be added for convenience, fixed double-click not always working. util3d: added conversion function from LaserScan to PointCloud2, added conversion functions between polygons format saved in database and PCL polygons format with vertices.
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2018-04-25 12:34:47 -04:00 |
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matlabbe
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f13e384a1b
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Added util3d::fixTextureMeshForVisualization()
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2018-04-16 17:50:00 -04:00 |
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matlabbe
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bfce5cceb5
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Fixed #275. Removed Grid/Scan2dMaxFilledRange parameter (use Grid/RangeMax instead).
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2018-04-14 16:48:29 -04:00 |
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matlabbe
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cd125ae274
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util3d::mergeTextures() added interface with single calibrations for convenience
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2018-04-09 12:26:09 -04:00 |
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matlabbe
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592b7c66c5
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0.17.0: saving optimized poses and last localization pose to database (https://github.com/introlab/rtabmap_ros/issues/220). Parameters: fixed Icp default parameters when not built with libpointmatcher, added RGBD/SavedLocalizationIgnored (default false). DbViewer: added Export/Import 2D map (https://github.com/introlab/rtabmap_ros/issues/213).
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2018-04-04 19:14:13 -04:00 |
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matlabbe
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9cfdc00d64
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Okvis: removed some compilation warnings when not built with okvis
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2018-03-23 14:54:49 -04:00 |
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matlabbe
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00412749e7
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IMU: changed members from Eigen to cv to avoid seg faults about Eigen memory alignment when copying IMU object created dynamically (#270)
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2018-03-21 21:31:41 -04:00 |
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matlabbe
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8d93c275ab
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Tango: fixed optimized mesh where nans were removed before saving (causing trouble with corresponding polygons)
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2018-03-21 16:00:12 -04:00 |
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matlabbe
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436e82653c
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Parameters: updated default of Icp/CorrespondenceRatio and Icp/PMOutlierRatio. Fixed OptimizerG2O build with ORB_SLAM2. Fixed seg fault after restarting ORB_SLAM2 odometry.
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2018-03-17 18:20:32 -04:00 |
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matlabbe
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10724fac3b
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fixed opencv2/core.hpp not found
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2018-03-07 20:55:10 -05:00 |
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matlabbe
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4969ece356
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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).
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2018-03-07 19:43:30 -05:00 |
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matlabbe
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69d28db660
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DbViewer: optimized fetching wm states from db, added checkbox along graph iteration slider to generate intermediate graphes.
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2018-02-23 10:12:36 -05:00 |
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matlabbe
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297cf3f51e
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0.16.2: Added wm_state field to database's Statistics table. New parameter "Rtabmap/SaveWMState" (default false). DbViewer: added option in GraphView to show only poses of the root id that were in WM at that time
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2018-02-21 18:19:20 -05:00 |
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matlabbe
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1bfde1f9f0
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Neigbor refining can be done with any Registration approach. Memory::computeIcpTransformMulti(): correspondences ratio increased by two times to accept transform
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2018-02-21 12:23:12 -05:00 |
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matlabbe
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db1139e89e
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Gui: fixed default color for scans from odom in MainWindow and constraint view in dbviewer. Recovery/reprocess: fixed triggering new map on covariance >=9999. Reg: repeatOnce not done if it has a child. Statistics: added time proximity by space visual info.
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2018-02-20 17:33:48 -05:00 |
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matlabbe
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00559ce8d6
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ground segmentaiton: adjusted cluster inlier with centroid below max height of biggest cluster
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2018-02-18 15:30:20 -05:00 |
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matlabbe
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07244a8a73
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Fixed occupancy grid created from PointNormal with RGB
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2018-02-18 15:10:25 -05:00 |
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matlabbe
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d181bedbfc
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Gui 3d rendering: added default color scheme option, added min and max range options for laser scans
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2018-02-17 09:46:08 -05:00 |
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matlabbe
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edbed67afe
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Windows: added missing RTABMAP_EXP in LaserScan class. Memory: fixed wrong laser scan format set when filtering is enabled.
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2018-02-16 20:56:48 -05:00 |
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matlabbe
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d24097f73d
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0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...)
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2018-02-16 19:20:54 -05:00 |
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matlabbe
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bfb3a58c01
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Optimizer: added optimizeIncremental() method to solve optimization error problems when re-opening the database (when graph should be re-optimized from raw odometry poses, not latest optimized poses, #172)
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2018-02-13 18:18:42 -05:00 |
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matlabbe
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c6e5f1c9f8
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Fixed PCL extract indices filter workaround for PointNormal type (not defined in current released PCL). Compression: Fixed OpenCV memory leak when converting uncompressed depth image to 32F format.
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2018-02-13 12:36:23 -05:00 |
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matlabbe
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4c0a612ab5
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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.
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2018-02-13 10:16:48 -05:00 |
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matlabbe
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1c8c233ebf
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fixed compilation errors on octomap >=1.8 introduced by previous commit for octomap < 1.8
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2018-02-09 11:02:01 -05:00 |
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matlabbe
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c2d0628da1
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Fixed compilation errors with octomap < 1.8
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2018-02-09 10:53:39 -05:00 |
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matlabbe
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2e58fa3c2f
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Fixed OctoMap build error with version <1.8
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2018-02-08 22:04:50 -05:00 |
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matlabbe
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fced2c521c
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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.
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2018-02-08 21:40:17 -05:00 |
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matlabbe
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8ca3bca810
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Fixed build error in rtabmap-reprocess without octomap. Fixed non c++11 build for BayesFilter.
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2018-02-02 13:12:14 -05:00 |
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matlabbe
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70991cf173
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fixed a compilation warning and updated usage of benchmarking tools
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2018-02-02 08:51:38 -05:00 |
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