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2,372 Commits 29 Branches 163 Tags
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1072 Commits

Author SHA1 Message Date
matlabbe
f27da7c8a5 GUI: fixed seg fault when showing scan with intensity and computed normals 2019-02-21 17:51:07 -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
dd5e09be37 DbViewer: fixed fatal error when adding new constraints on nodes not in the graph (now we can only add new constraints with nodes in the graph) 2019-02-15 17:43:18 -05:00
matlabbe
38b8746507 Added Mem/ImageCompressionFormat parameter (default .jpg) 2019-02-11 15:23:38 -05:00
matlabbe
1752b55678 Fixed bug with proximity detection (with combined scans) giving wrong transform sometimes if RGBD/ProximityPathFilteringRadius was used (default true). Fixed util3d::computeNormalsComplexity() when scan has intensity. 2019-02-07 11:19:55 -05:00
matlabbe
6fc884b575 Export: exporting with intensity for laser scans 2019-02-06 18:46:37 -05:00
matlabbe
5eb9bbe283 GUI: Fixed black zed depth image in ImageView (#356) 2019-01-28 19:47:01 -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
42c8ed0c0f removed a debug warning 2019-01-09 13:52:53 -05:00
matlabbe
d63f9e736e gui: fixed odom local map hiding on rtabmap update 2019-01-09 13:50:12 -05:00
matlabbe
0f8c70bcdf g2o/gps support: added edge_se3_xyzprior.h to rtabmap repo. Fixed build for kinetic g2o version. 2019-01-03 15:49:25 -05:00
matlabbe
6bd9dd55b7 3D view, fixed flickering frustum 2018-12-13 18:00:19 -05:00
matlabbe
6e8913091d ImageView: fixed image not saved if extension not set (set default png) 2018-12-13 17:54:46 -05:00
matlabbe
73004c643c DbViewer: In graph view, nodes in latest working memory state are highlighted in red 2018-12-13 13:24:57 -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
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
015c442f1c DetectMoreLoopClosures: update optimized poses and clear occupancy grid saved in database 2018-11-09 20:36:58 -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
1784a0877f PostProcessingDialog: don't close dialog if validate failed 2018-11-05 18:49:50 -05:00
matlabbe
09a63bbc5b Rtabmap::detectorMoreLoopClosures() added intraSession and interSession parameters 2018-11-05 18:40:08 -05:00
matlabbe
fad1993a01 Preferences->Source: added Tara stack widget panel 2018-10-31 11:00:01 -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
bb4164a05d CloudViewer: added some getters 2018-10-30 17:42:43 -04:00
matlabbe
a43eccdac8 MainWindow: clear cacheLocalizationsCount when unchecking the option 2018-10-25 19:08:00 -04:00
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
1ef61db73b Bundler: fixed 3D points orientation, added color. 2018-10-24 20:34:53 -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
a1079761e7 fixed #317 2018-10-04 11:06:47 -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
8b055752aa RegistrationIcp: Fixed invalid variance set when structural complexity is low and input doesn't have normals. DBViewer: added check on angular error after optimizing the graph when adding a new constraint. Memory: added warning if odom angular variance detected is very high. 2018-09-28 22:02:07 -04:00
matlabbe
95e87fed14 MLS: added output voxel size parameter 2018-09-28 09:45:43 -04:00
matlabbe
5e08da51aa RealSense: fixed color rectification. Fixed ZR300 odometry frame. 2018-09-26 20:51:12 -04:00
matlabbe
b581a62c89 Fixed build with opencv < 2.4.10 for missing fisheye model 2018-09-24 15:09:12 -04:00
matlabbe
c341648a44 Added parameter "Rtabmap/RectifyOnlyFeatures". Added support of fisheye distortion model. 2018-09-24 14:36:54 -04:00
matlabbe
f903ffb927 Fixed regression errors for OpencV2 (#309) 2018-09-18 23:03:40 -04:00
matlabbe
124543c57d Fixed compilation errors with OpenCV 4.0.0 (#309) 2018-09-18 22:43:18 -04:00