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1072 Commits

Author SHA1 Message Date
matlabbe
a82261a4df Export: Added Poisson auto depth (value=0). CloudViewer: Added measuring tool. 2018-04-13 18:19:13 -04:00
matlabbe
592b7c66c5 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). 2018-04-04 19:14:13 -04:00
matlabbe
d2f7d8a9c4 ExportDialog: Added OpenChisel meshing option 2018-03-26 18:06:41 -04:00
matlabbe
b0b3b491a0 Docker: added android/install_deps_host.bash. ExportClouds: default voxel size 0.02->0.01 2018-03-20 16:47:18 -04:00
matlabbe
257fe20c4f OdometryF2F: fixed published localScanMap in wrong frame 2018-03-13 00:01:32 -04:00
matlabbe
ba011169b8 DbViewer: don't modify ground truth values (previously they were aligned with root) 2018-03-12 20:57:34 -04:00
matlabbe
ffe50dad22 When exporting poses, set txt extension by default if not set 2018-03-12 20:26:34 -04:00
matlabbe
dc289ba635 DbViewer: when align with ground truth is enabled, exported poses are those aligned with ground truth 2018-03-12 18:51:55 -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
215eff3212 MainWindow: updated default 2d scan with normals color for map and odom 2018-02-23 11:13:26 -05:00
matlabbe
69d28db660 DbViewer: optimized fetching wm states from db, added checkbox along graph iteration slider to generate intermediate graphes. 2018-02-23 10:12:36 -05:00
matlabbe
297cf3f51e 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 2018-02-21 18:19:20 -05:00
matlabbe
93e1d732c9 DbViewer: added option to align scans/clouds to ground truth for convenience 2018-02-21 15:13:02 -05:00
matlabbe
1bfde1f9f0 Neigbor refining can be done with any Registration approach. Memory::computeIcpTransformMulti(): correspondences ratio increased by two times to accept transform 2018-02-21 12:23:12 -05:00
matlabbe
489ab86ac7 dbviewer: fixed variance*100 for proximity by space links (multi-scan). 2018-02-21 10:08:48 -05:00
matlabbe
e8f7746c87 dbviewer: removed voxel filtering from scan display 2018-02-21 08:38:35 -05:00
matlabbe
db1139e89e 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. 2018-02-20 17:33:48 -05:00
matlabbe
5c04ce257b DbViewer: can launch with a directory argument to set current workspace for convenience. 2018-02-19 16:37:17 -05:00
matlabbe
37cbf79b4c DbViewer: fixed occupancy grid color options. Reprocess: added grid total time including rtabmap stats 2018-02-18 21:32:19 -05:00
matlabbe
00559ce8d6 ground segmentaiton: adjusted cluster inlier with centroid below max height of biggest cluster 2018-02-18 15:30:20 -05:00
matlabbe
07244a8a73 Fixed occupancy grid created from PointNormal with RGB 2018-02-18 15:10:25 -05:00
matlabbe
d181bedbfc Gui 3d rendering: added default color scheme option, added min and max range options for laser scans 2018-02-17 09:46:08 -05:00
matlabbe
d24097f73d 0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...) 2018-02-16 19:20:54 -05:00
matlabbe
bfb3a58c01 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) 2018-02-13 18:18:42 -05:00
matlabbe
3dfe1ccb1a DbViewer: updated warning msg when graph optimization fails. 2018-02-13 14:14:08 -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
09cae9cbd3 DbViewer: added color selectors for obstacle, ground and empty cells. 2018-02-12 11:32:17 -05:00
matlabbe
1595405871 DbSqlite3: fixed Feature.depth_[x,y,z] not saving correctly NaN values (then NaNs were wrongly converted to 0 on reload). Gui: Added stereo exposure compensation option in Source panel. 2018-02-11 16:07:26 -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
a320eb5d8e ExportCloudsDialog: voxel size is now to 0.02 by default to limit the size of generated cloud (using too much RAM may result in a crash) 2018-02-06 11:34:54 -05:00
matlabbe
42199eefd2 Added --poses option to report tool. Reprocess tool: Export ground/obstacles when 3d map is created. 2018-02-06 11:31:39 -05:00
matlabbe
56df87e60c GraphViewer: Added "hide/show graph nodes" menu action, added 1% border when exporting to SVG 2018-02-04 14:18:39 -05:00
matlabbe
3405e8b8e1 Merge branch 'master' of https://github.com/introlab/rtabmap into devel 2018-02-01 22:19:34 -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
09e0d0b9d8 Added RTAB-Map100.png logo of 100 pixels height for main readme to fix docker main page <a><img> tags not supported 2018-01-14 17:20:39 -05:00
matlabbe
d6058768fc RegVis: fixed out-of-range vector error when guess is used and we match to projections. ImageView: Added right-click menu option to set a fixed size for features 2017-12-18 14:38:54 -05:00
matlabbe
7091406abc Merge branch 'master' of https://github.com/introlab/rtabmap into devel 2017-12-13 18:07:54 -05:00
matlabbe
c21d478f5d ExportCloudsDialog: added more decimals to camera filtering options 2017-12-12 11:16:12 -05:00
matlabbe
f973fc3743 Merge branch 'master' of https://github.com/introlab/rtabmap into devel 2017-12-11 17:10:08 -05:00
matlabbe
d776092b35 RtabmapThread: when receiving new map event from odometry, wait until the buffer has reached the corresponding timestamp before triggering a new map. DBReader: regenerate stamps when sync capture rate with stamps in database is false. MainWindow: ask for PNG or JPEG format when activating auto capture. 2017-12-11 17:09:04 -05:00
matlabbe
775b80eff5 0.15.2: Fixed Transform's not orthogonal rotation matrix causing problems with GTSAM (normalize rotation each time transforms are multiplied, and for backward compatibility automatically normalize rotation of all transforms loaded from old databases prior to 0.15.2). Added Vis/CorGuessMatchToProjection, Icp/PMMatcherKnn and Icp/PMMatcherEpsilon parameters. CameraRGB: fixed max scans number when filtering. Link: transfering maximum covariance when merging. OptimizerGTSAM: updated how covariance are copied based on GTSAM official example. util3d::loadBINCloud(): fixed dim parameter not used. DatabaseViewer: Added option in graph view to ignore intermediate nodes when optimizing the graph. 2017-12-09 21:44:53 -05:00
matlabbe
dafaac412f DbViewer: fit in view the graph when changing iterations. Limited to 900MB creation of the grid map (in case graph is very erroneous). 2017-12-01 11:56:27 -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
821c1c938e DataRecorder: Can record odometry data if odometry is published by the camera (zed or realsense) 2017-11-21 14:14:37 -05:00
matlabbe
1df95702a3 DbViewer: Fixed octomap visualization when ground is not segmented 2017-11-21 13:24:21 -05:00
matlabbe
b820e98bdc Stereo: min and max disparity parameters are now float. ImageView: adjusted background color of info boxes. 2017-11-14 11:36:37 -05:00
matlabbe
10c5cb3721 GUI: Added missing Rtabmap/ComputeRMSE parameter 2017-11-10 16:03:25 -05:00
matlabbe
71d9816f4b 0.15: statistics are now compressed in database. Eigen issue: using linear() instead of rotation() to get rotation from affine3f. Increased loading speed of statistics in DatabaseViewer. Added graph:calcRMSE(). 2017-11-09 12:03:01 -05:00
matlabbe
8cdd138143 CameraK4W2: added depth to color registration. For CameraFreenect2, kTypeColor2DepthSD is now used by default. 2017-11-06 22:59:12 -05:00
matlabbe
7dabfdc207 Added CameraK4W2 (Kinect for Windows SDK v2 driver) 2017-11-06 00:19:12 -05:00