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193 Commits
Author SHA1 Message Date
matlabbe 90ed9cd15c Added support for latest g2o code (with c++11 interface) 2018-02-03 15:43:32 -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 398ca1f8e4 0.15.3: util3d::computeVarianceAndCorrespondences(): added max angle parameters for normal type. util3d::downsample(): added Normal types support. OccupancyGrid: fixed 2d scan with 5 channels not handled correctly on update. 2017-12-13 18:12:40 -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 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 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 7dabfdc207 Added CameraK4W2 (Kinect for Windows SDK v2 driver) 2017-11-06 00:19:12 -05:00
matlabbe c880366aaf Removed pcl visualization dependency from core lib 2017-10-24 10:05:39 +02:00
matlabbe e40a7d6681 0.14.3: exposed all gui widgets to public API. CloudViewer: fixed camera orientation reset 2017-10-20 12:09:34 +02:00
matlabbe bcf65d4cae Windows: qvtk missing lib on apps building against rtabmap 2017-10-17 11:13:17 +02:00
matlabbe ab0aad87ec Increased ZED version requirement to 2 2017-10-11 16:44:53 -04:00
matlabbe 49f9a1e8d7 Tango: fixed database saved in memory option when disabled (now disabled by default) 2017-10-08 21:55:27 -04:00
matlabbe 81c8e1b192 Tango: add Maximum Motion Speed option (default low) to avoid blurry images 2017-09-28 17:15:53 -04:00
matlabbe bfc393a090 0.14: added gps field to Node table in database (#226). Tango: saving gps if enabled, added Rename/Remove/Share on long click in Open dialog (fixed #233) 2017-09-21 20:59:45 -04:00
matlabbe 52a4e8964f 0.13.3: scan2d with normals support/registration 2017-08-28 16:40:07 -04:00
matlabbe 964a052be1 Merge branch 'lunar-devel' of github.com:introlab/rtabmap 2017-08-28 16:38:43 -04:00
Mikael Arguedas eca0c72063 remove hack now that upstream pcl has been rebuilt 2017-08-28 09:54:40 -07:00
matlabbe f7872d346b libpointmatcher integration 2017-08-22 16:20:49 -04:00
matlabbe 2a9508b4e3 Fixed build for Lunar 2017-08-03 16:40:12 -04:00
matlabbe c0c288e0d9 Tango: removed seekbar for FOV(use pinch zoom instead), show UI on single tap instead of swipe down 2017-08-03 11:52:18 -04:00
matlabbe 82fd5b36a8 util3d::cloud[RGB]FromSensorData(): supporting roi ratios for stereo images 2017-08-02 15:14:03 -04:00
matlabbe 81ae1eae51 docker update 2017-07-13 14:14:51 -04:00
matlabbe 517c70d855 CMake: added ANDROID_PREBUILD option 2017-07-13 13:36:34 -04:00
matlabbe 9e011d6ad9 Fixed changing local transform not handled correctly when changing for third party odometries 2017-07-07 19:41:11 -04:00
matlabbe f9ed36ed54 Parameters: renamed Rtabmap/VhStrategy to VhEp/Enabled 2017-07-05 13:38:27 -04:00
matlabbe c4ca6a0bac Integrated ORB_SLAM2 as an odometry approach Odom/Strategy=5. 2017-06-05 19:04:23 -04:00
matlabbe 4f26e34717 Integrated DVO odometry approach 2017-05-31 20:57:24 -04:00
matlabbe f6e21bd6c8 Integration of viso2 odometry approach. 2017-05-30 14:03:46 -04:00
matlabbe 4ffbc0fb58 Integrated Fovis (Odom/Strategy=2) 2017-05-30 09:27:31 -04:00
matlabbe e8af8f7792 Added SensorData's globalPose and globalPoseCovariance field. Link: added new type PosePrior. g2o: adding edge prior for self-refering edges. Memory: adding self-refering link when SensorData's globalPose is set. 2017-05-22 21:05:34 -04:00
matlabbe 2e906f9b8a Merge branch 'g2o_prior' of https://github.com/dronecrew/rtabmap into dronecrew-g2o_prior 2017-05-22 11:59:16 -04:00
James Goppert a2a8638f28 Add edge prior to g2o. 2017-05-17 22:58:26 -04:00
matlabbe 104c1e6945 0.13.0 Database: Added velocity field to Node table, renamed Map_Node_Word table to Feature, added information_matrix field to Link table (replacing rot_variance and trans_variance). Added graph::calcKittiSequenceErrors().Added "Mem/IntermediateNodeDataKept" parameter (default false). Updated all interfaces using rotVariance and transVariance values with covariance matrix instead. g2o SBA: always use covariance in links. kitti-dataset tool: added --disp option and kitti statistics are shown at the end. StatsToolBox: units can have "/". 2017-05-11 15:02:18 -04:00
matlabbe eadeb3841b Export: CPU-TSDF mesh reconstruction integration 2017-05-05 21:44:06 -04:00
matlabbe 4d025568dc updated FindRealSense.cmake 2017-05-05 16:10:09 -04:00
matlabbe 07d6763e69 Fixed build without realsense 2017-04-21 21:58:38 -04:00
matlabbe bc2da10713 RealSense driver: added odometry option (ZR300) 2017-04-21 21:24:23 -04:00
matlabbe 6f148c47e2 0.12.15 Parameters: added "GridGlobal" parameter group, fixed https://github.com/introlab/rtabmap_ros/issues/162 2017-04-10 16:59:48 -04:00
matlabbe aa37ac6038 Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database 2017-04-01 14:14:36 -04:00
matlabbe ef7bf87187 Tango: added fisheye option 2017-03-13 20:51:59 -04:00
matlabbe d21ae76fff 0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool) 2017-03-12 21:21:09 -04:00
matlabbe fd55828c42 0.12.2: ros package sync 2017-03-03 11:36:07 -05:00
matlabbe 8de6cb1ca0 Added util3d::projectCloudToCamera() with PCLPointcloud2 interface, update util2d::fillDeptHoles() to support CV_32FC1 2017-02-23 00:15:43 -05:00
matlabbe 595ac49552 0.12.0: database update: added missing octave field, added preview_image field 2017-02-17 14:37:41 -05:00
matlabbe 534efcb987 updated version to 0.11.14 2017-01-27 12:19:39 -05:00
matlabbe 6abed48af6 0.11.13. OdometryF2M: fixed/improved bundle adjustment option. OptimizerG2O: now doing stereo BA instead of mono BA (interface of Optimizer::optimzeBA() has slightly changed to include depth in word references). Registration and Odometry set angular and linear variances separately. RegistrationVis set x100 smaller variance for rotation. Added keypoints3D member to SensorData. Added Transform::getAngle() for convenience. Odometry normalizes variances. RtabmapThread does variance summation when frames are discarded. Updated how variance is computed by util3d::estimateMotion3Dto2D(), ignoring very large variance from the computation (stereo issue with very far matched features). MainWindow: added option to align with ground truth or not (default true as before), added for odometry statistics (including bundle stuff), update ground truth statistics every time a graph is loaded/optimized. CameraRGB can now load odometry files (to fake an input odometry). PreferencesDialog: Added option to Odometry so it can use a different registration approach than the default one (the one used for loop closure). Parameters: added new g2o/Solver option 3 (Eigen), added g2o/RobustKernelDelta, g2o/Baseline and Odom/VisKeyFrameThr. Database: from 0.11.13, ignoring patch version when comparing is database version is newer than app version used. 2017-01-03 21:05:00 -05:00
matlabbe 9276607920 Added Bundle Adjustment options to OdometryF2M (OdomF2M/BundleAdjustment) and RegistrationVis (Vis/BundleAdjustment). Added logger thread filter. RegistrationVis: Copy back corresponding input word IDs to output words when available. Memory::computeTransform() added option to use already computed corespondences if possible (proximity detection by time uses this). Updated Optimizer::optimizeBA() interface. 2016-11-14 19:54:31 -05:00
matlabbe f07bb17442 Find/Link explicitly OpenCL libraries if Freenect2 is detected (moved in main CMakeLists.txt to be added to exported in RTABMapConfig.cmake) 2016-10-31 14:28:17 -04:00
matlabbe 403bfc2b44 Merge branch 'kinetic-devel' of https://github.com/introlab/rtabmap 2016-09-29 12:45:21 -04:00
matlabbe 4d6cfbba20 RTABMapConfig.cmake: added find VTK if vtkGUISupportQt target is required 2016-09-29 12:40:51 -04:00