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2,927 Commits 29 Branches 163 Tags
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1709 Commits

Author SHA1 Message Date
matlabbe
c8cd745f81 Rtabmap: On init, load also landmark optimzed poses 2019-02-04 18:23:09 -05:00
matlabbe
c85ff90477 fixed build with older gtsam versions 2019-01-29 19:06:28 -05:00
matlabbe
0c24786912 Fixed build with latest gtsam version (missing DerivedValue.h, https://github.com/introlab/rtabmap_ros/issues/290) 2019-01-29 18:06:38 -05:00
matlabbe
d647fd7743 Fixed regression build error with OpenCV2 2019-01-28 19:56:11 -05:00
matlabbe
f8b7421b59 Fixed build with OpenCV4+CUDA10 (#334) 2019-01-28 19:28:24 -05:00
matlabbe
76ef2c4b0e CameraStereoZed: added odomForce3DoF option 2019-01-28 17:05:15 -05:00
matlabbe
0192cac18a updated recovery tool to support databases without image data kept 2019-01-28 16:11:05 -05:00
matlabbe
ccaf15fc41 fixed build without g2o 2019-01-25 19:14:28 -05:00
matlabbe
f50018776f Fixed Icp/CorrespondenceRatio not updated if set in parameters for proximity detection 2019-01-21 16:55:38 -05:00
matlabbe
d45b77c0b7 Vis: fixed assert when doing bundle adjustment with SignatureTo having no 3d words 2019-01-16 19:29:57 -05:00
matlabbe
479fb6cbca rtabmap: update lastLocalizationNodeId even when only a landmark is detected 2019-01-15 21:34:01 -05:00
matlabbe
95f48b694e OptimizerGTSAM: fixed inverted landmark link transform on slam2d with rotation used 2019-01-15 17:58:23 -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
2a8e5be361 g2o: only check for variance >= 9999 as zero should never happen. For landmark, use SE3 or PointXYZ factor depending if angular covariance is set or not (>=9999). Same for gtsam (pose vs bearingRange factor respectively). 2019-01-06 17:00:39 -05:00
Nuno Marques
bf5d2b7f04 EdgeSE3XYZPrior: add ParamOffset (#349) 2019-01-04 12:45:30 -05:00
matlabbe
18c35954f0 g2o: fixed indigo build errors 2019-01-03 16:16:16 -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
TSC21
698293e2d8 OptimizedG2O: assotiate VertexSE3 instead of VertexPointXYZ to EdgeXYZPrior 2018-12-28 14:10:00 +00:00
TSC21
22d631d7aa OptimizerG2O: fix landmarks vertex output types 2018-12-28 14:08:05 +00:00
TSC21
be75c7591c OptimizerG2O: fix slam2d prior types naming 2018-12-28 13:38:12 +00:00
TSC21
c21f466573 OptimizerG2O: fix EDGE_XYZ / XY_PRIOR exports 2018-12-27 17:08:54 +00:00
TSC21
308b1484e0 OptimizerG2O: check inverse of the information matrix values 2018-12-27 15:58:25 +00:00
TSC21
8beea1984e Memory: pass globalPoseCovariance without inverting it 2018-12-27 15:06:29 +00:00
TSC21
cebecc3fc3 OptimizerG2O: add EDGE_XY_PRIOR and EDGE_XYZ_PRIOR to saveGraph 2018-12-27 13:22:15 +00:00
TSC21
81c4382349 OptimizerG2O: improve priors SE3/SE2 vs XYZ/XY logic 2018-12-27 12:48:24 +00:00
TSC21
b7f2eb8df9 OptimizerG2O: add XYZ/SE3 and XY/SE2 priors depending on the angular covariances 2018-12-26 16:30:40 +00:00
TSC21
97f956f138 Memory: readd GPS data as priors 2018-12-26 15:37:22 +00:00
matlabbe
85f0ab829a Rtabmap: updated logic of small displacement updates (RGBD/LinearUpdate=0 means always update) 2018-12-13 13:30:50 -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
ccbc802fe6 Fixed angular error check when abs angle error > PI 2018-12-10 20:20:52 -05:00
matlabbe
73378c4d56 fixed compilation warning 2018-12-09 14:16:51 -05:00
matlabbe
986db04cb9 Rtabmap::computePath() make sure the closest pose of the current location is a node, not a landmark 2018-12-07 20:43:46 -05:00
matlabbe
de32e53868 OctoMap: fixed not dense empty cells 2018-12-07 19:50:15 -05:00
matlabbe
200ec8e5db 0.18.3: added landmarks (graph optimization, localization, navigation) 2018-12-07 18:29:41 -05:00
matlabbe
b771aa00e0 LaserScan: Updated max points computation 2018-12-04 10:17:21 -05:00
matlabbe
f0ea8ab076 OdometryThread: fixed data buffer ignored if imu is always set 2018-12-01 00:53:36 -05:00
matlabbe
abbcc4f8a9 CameraFreenect: set accelerometer values in IMU member of SensorData. OdomF2M and OdomF2F: intialize orientation with gravity for the first frame if accelerometer value is valid in SensorData. 2018-12-01 00:25:48 -05:00
matlabbe
8a8f46c325 fixed #341 2018-11-29 18:21:12 -05:00
matlabbe
0167687c6b Link: Covariances are added on merge when output is NeighborMerged (reduced graph) 2018-11-27 09:23:16 -05:00
matlabbe
ca27dbd2fe Fixed #339 and #289 2018-11-21 14:47:15 -05:00
matlabbe
b862d6bc48 0.18.2: Added Odom/GuessSmoothingDelay parameter 2018-11-21 11:57:04 -05:00
matlabbe
5ae2f487b4 Odom: Updated error msg when invalid stamps are received 2018-11-19 18:19:24 -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
bf2a9db5e4 Fixed memory usage for grid and statistics 2018-11-15 20:52:53 -05:00
matlabbe
963aea5c0d OccupancyGrid:segmentCloud() reset indices ptr to make sure the returned pointer is valid 2018-11-15 10:08:04 -05:00
matlabbe
9efd7c14fc Updated stereo block matching approach (when Stereo/OpticalFlow=false) 2018-11-13 14:25:21 -05:00
matlabbe
227f8c4f86 Camera: fixed freezing when changing online frame rate from non zero to zero 2018-11-10 11:43:58 -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
3bb874825f Optimizer:getConnectedGraph() don't add poses not included in the input poses 2018-11-09 17:14:09 -05:00