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Author SHA1 Message Date
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) 
* 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 
#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 https://github.com/introlab/rtabmap/commit/39e1d453697b7cdd9dd11038f6d9d998b8a8ed53 (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
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 
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) 
* 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) 
* 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 
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
matlabbe d936b2d35a Added '*' to cmake info to show dependencies affecting default parameters 2018-09-18 17:00:37 -04:00
matlabbe 84a8e5830e fixed https://github.com/introlab/rtabmap_ros/issues/274 2018-09-18 12:30:01 -04:00
matlabbe eedc68c360 fixed #312 2018-09-18 12:20:15 -04:00
matlabbe 0cf37fbbf1 Added D415 icon 2018-09-15 11:37:02 -04:00
matlabbe 5f6dd0846d NoEventsExample: updated usage example info 2018-09-07 13:11:39 -04:00
matlabbe 3c15563569 fixed sqlite3 cmake info not correctly shown 2018-09-05 15:03:50 -04:00
matlabbe 1f985ddef0 FindSqlite3.cmake: removed sqlite3 executable search 2018-09-05 12:05:16 -04:00
matlabbe 43e144e7b6 CMake: using external sqlite3 is available, otherwise use internal copy. 2018-09-05 14:22:34 -04:00
matlabbe 9c70b7116b fixed a cmake warning 2018-09-04 19:01:43 -04:00
matlabbe 3c1095be65 Windows: BUILD_AS_BUNDLE option should now be set to ON to create package with all dependencies embedded, otherwise only rtabmap libraries and headers are installed (like default on linux and Mac). 2018-09-04 15:44:37 -04:00
matlabbe 89f27e84d0 💄 2018-08-29 15:36:53 -04:00
matlabbe f64a5e75d5 fixed fovis.hpp not found when using kinetic libfovis branch of https://github.com/srv/libfovis 2018-08-29 14:48:30 -04:00
matlabbe 94178c8cde LOAM: set back to ON by default as the pull request (https://github.com/laboshinl/loam_velodyne/pull/66) has been integrated 2018-08-29 14:38:50 -04:00
matlabbe 30290c36d7 Rtabmap: Added deleteLastLocation() and rejectLastLoopClosure() methods 2018-08-29 12:29:11 -04:00
matlabbe 956f07785b Fixed build error (vtk version issue) 2018-08-28 17:29:20 -04:00
matlabbe 3e6f14f3bd CloudViewer: added camera Ortho mode context menu option 2018-08-28 17:07:36 -04:00
matlabbe 7cb39f02f2 CloudViewer: Reduced interactor motion from 10 to 5 2018-08-28 11:49:32 -04:00
matlabbe c105804572 Moved DBDriverSqlite3.h to installed headers (changed some members from private to protected for easier inheritance) 2018-08-27 16:54:23 -04:00
matlabbe f498cf1b1a CloudViewer: added getColor(id) and setColor(id) to change color of an actor 2018-08-25 11:41:28 -04:00
matlabbe c0a2efe7e2 Fixed build with PCL <1.7.2 2018-08-24 16:17:30 -04:00
matlabbe 080d044c99 CloudViewer: added setInteractorLayer() function 2018-08-24 15:27:42 -04:00
matlabbe cbf14bfa08 CloudViewer: set minimum ambiant light of 0.5 for all meshes 2018-08-23 16:18:04 -04:00
matlabbe 110f4a99ee CloudViewer: added addOrUpdateQuad() function 2018-08-23 11:59:24 -04:00
matlabbe 63af05ef88 CloudViewer: refactoring + added CloudViewerCellPicker class to ignore picking backfaces (when backface culling is on) 2018-08-21 16:11:05 -04:00
matlabbe 0c790005b2 ImageView: colormap not updated if depth cv image is not set 2018-08-17 15:30:13 -04:00
matlabbe 3ce6de573d ImageView: added depth colormap menu option 2018-08-17 15:28:23 -04:00
matlabbe 67aa4cd28e DbViewer: added decimation parameter for cloud visualization. ImageView: adding scaling to height menu option. 2018-08-17 14:01:11 -04:00
matlabbe c18f3cd539 Added rtabmap-export example 2018-08-16 17:01:02 -04:00
matlabbe 9e13d5600a GUI: Fixed ProbMiss assert when resetting value to default 2018-08-16 16:51:29 -04:00
matlabbe 35d5200a3b Parameters in group GridGlobal: renamed OctoMapOccupancyThr to OccupancyThr, added ProbHit, ProbMiss, ProbClampingMin, ProbClampingMax. Using logodds approach from OctoMap to evaluate occupancy of standard grid map. ref https://github.com/introlab/rtabmap_ros/issues/269 2018-08-16 14:42:05 -04:00
matlabbe e0858a9c2a GraphView: added orientation visualization on nodes 2018-08-16 11:21:25 -04:00
matlabbe b8847fd006 0.17.5: added --version option on command line 2018-08-14 14:21:44 -04:00
matlabbe 714d95cc34 Removing redundant non null check before deleting a ptr in destructors #301 2018-08-09 15:53:47 -04:00
matlabbe 5e60a2596c DbViewer: show full covariance in Constraints View 2018-08-09 15:20:19 -04:00
matlabbe f281db8dd0 Windows: removed yaml_cpp required if pkgconfig is installed 2018-08-07 20:34:46 -04:00
matlabbe 7f09a9e0cb fixed #293 2018-08-06 16:34:09 -04:00
matlabbe fe52060de7 Update .travis.yml 2018-08-06 15:04:38 -04:00
matlabbe d5128ddc18 Added parameter Mem/CovOffDiagIgnored (default true) 2018-08-05 12:51:50 -04:00
matlabbe f938e8ce29 Calibration dialog: updated some tooltips 2018-08-03 14:49:39 -04:00
matlabbe a0342671ac OccupancyGrid: added getCache() method 2018-08-02 16:53:44 -04:00
matlabbe e03da92a90 FAST: disabled grid parameters by default 2018-07-27 16:41:19 -04:00
matlabbe 4d5b42ab79 rtabmap: parameters passed by arguments override those in the database loaded from command line. Dictionary: set words saved to avoid saving them in database (causing db error when remapping from an old db created by fixed dictionary). G2O: ba supporting words with negative ids. 2018-07-27 16:01:17 -04:00
matlabbe b63590bf1d Memory: Fixed features with no id (-1) ignored for triangulation from motion. Dictionary: matching with negative word ids is now allowed 2018-07-26 20:41:54 -04:00
matlabbe cfdee23d33 Statistics: added variance info of the loop closure/localization. GUI: Graph view option to show nodes on which loop closures/localizations happened 2018-07-26 14:40:16 -04:00
matlabbe 60499e895f Updated About dialog 2018-07-24 17:11:27 -04:00
matlabbe ddacee6d8b rtabmap-report: ignoring --scale option if no ground truth is found 2018-07-24 14:38:14 -04:00
matlabbe ae226cb1a2 0.17.4 (integrated MSCKF odom approach) 2018-07-23 15:56:53 -04:00
matlabbe a7e70ab80b Set LOAM default off as a special pull request should be used to use it as a library without ros 2018-07-20 19:41:50 -04:00
matlabbe e95cabb1fc fixed optimization error ratio bug where comparison was done using not highest ratio link but on highest abs error link instead. 2018-07-20 15:11:46 -04:00
matlabbe 173bd49a26 Handling intial odometry pose in all odometry approaches. For VIO approaches, gravity initialization is handled too. (#298) 2018-07-19 14:10:36 -04:00
matlabbe 9ae47b79f9 Working MSCKF 2018-07-18 16:15:41 -04:00