matlabbe
e57b722ce2
Reprocess: if Mem/IncrementalMemory is false and more than one input file is provided, init rtabmap with the first and do localization with the others.
2018-10-29 17:00:42 -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
299bec15ff
DBReader: publish global pose if prior link is detected, negative image rate means now a ratio of the database stamps
2018-10-24 09:26:41 +12:00
matlabbe
8e99291e13
0.18: Camera calibration and LaserScan Info refactoring ( #324 )
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* 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
8701ae6de0
Update OptimizerG2O.cpp
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#323
2018-10-24 06:18:10 +12:00
matlabbe
d2c406f019
fixed build without g2o ( #323 )
2018-10-24 06:16:40 +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
3bc8fc4c11
Integrated GPS into likelihood computation
2018-10-22 12:31:07 -04:00
matlabbe
93a3a667c8
fixed build errors with OpenCV2 caused by commit 39e1d45369 (OpenCV4)
2018-10-21 13:53:49 -04:00
matlabbe
39e1d45369
Fixed build with OpenCV4 ( #322 )
2018-10-21 13:35:03 -04:00
matlabbe
cc91208057
Tango: fixed wrong bearing value on landscape orientation
2018-10-18 18:23:52 -04:00
matlabbe
5d54c0e26c
Tango: updated copyright years
2018-10-18 17:25:57 +00:00
matlabbe
5fc9f859ce
Tango: set third person camera by default, scan media file on SD-card when saving database (fixed issue of database just saved not seen with MTP when connected by USB)
2018-10-17 14:05:22 -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 )
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* 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
444b511548
rtabmap: use last argument with db suffix as the database used (fixed issue when setting a dictionary path as argument)
2018-10-15 11:33:46 -04:00
matlabbe
527cbddb4b
rtabmap app: default log level is now warning. This avoids showing log stuff when using --params argument for example.
2018-10-12 16:03:29 -04:00
matlabbe
7fdd212462
rtabmap-reprocess supports multiple input databases. Arguments "--params map.db" output parameters of the database in INI format
2018-10-12 15:53:44 -04:00
matlabbe
9f31830f03
Install system libraries only in BUILD_AS_BUNDLE mode, install vcomp###.dll is built with openmp
2018-10-11 15:19:20 -04:00
matlabbe
e4098cb54b
Fixed GTSAM search by ignoring findGTSAM.cmake file from PCL
2018-10-11 14:28:41 -04:00
matlabbe
aa13ea1a80
Update .appveyor.yml
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Added GTSAM_DIR variable to cmake to help finding GTSAM, Using OpenCV2 instead of OpenCV3 binaries as BRIEF is not available in OpenCV3 binaries.
2018-10-09 20:46:58 -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 )
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* 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
6b5990aa04
odom variance verification limited to yaw if 3dof registration/optimization is done
2018-10-02 18:02:55 -04:00
matlabbe
ae08adb8bd
warn odom high variance only one time
2018-10-02 15:32:26 -04:00
matlabbe
711184c465
Windows: Fixed linker error
2018-10-02 00:07:34 -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 )
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* 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
eb38b9cfab
Update README.md
2018-10-01 11:28:51 -04:00
matlabbe
459f0b7fa0
Update README.md
2018-09-30 16:13:04 -04:00
matlabbe
db3b901063
Update package.xml
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Bump package version
2018-09-29 11:58:58 -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
dbb9cfa77a
Parameters: Updated description of Rtabmap/TimeThr and Rtabmap/MemoryThr ( https://github.com/introlab/rtabmap_ros/issues/276 )
2018-09-28 15:37:24 -04:00
matlabbe
95e87fed14
MLS: added output voxel size parameter
2018-09-28 09:45:43 -04:00
matlabbe
02fdd677cf
💄
2018-09-27 16:08:55 -04:00
matlabbe
3b74534567
Parameters: Mem/LaserScanNormalRadius should be a float
2018-09-27 14:28:51 -04:00
matlabbe
790b0e5cf7
Memory: undistortion of features can be done also for RGB-only case
2018-09-27 10:19:28 -04:00
matlabbe
5e08da51aa
RealSense: fixed color rectification. Fixed ZR300 odometry frame.
2018-09-26 20:51:12 -04:00
matlabbe
0c2287df77
CameraModel fisheye model: fixed typo
2018-09-25 14:36:59 -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
matlabbe
829f05e2fb
Implemented missing max angular optimization error check for RGBD/OptimizeMaxError
2018-09-18 22:34:15 -04:00
