matlabbe
5122d9ac02
Memory: fixed fisheye distortion index error when rectifying only features
2020-03-24 11:46:16 -04:00
matlabbe
bd979cca34
Fixed rejected 180deg loop closure with multi-camera setup
2020-02-19 14:35:37 -05:00
matlabbe
f7540196d4
Fixed many compilation warnings (c++14, like pedantic warnings)
2020-01-30 17:23:02 -05:00
matlabbe
350d3cd85f
CameraRealSense2: fixed wrong IR image index. DBReader: fixed imu not published. OdometryF2M: use IMU roll/pitch values when IMU is used (reducing variance on those angles before BA).
2019-09-13 21:45:13 -04:00
matlabbe
e968fd3ef4
Remove landmark links when a node is deleted (and removed from the graph) #441
2019-09-01 13:17:44 -04:00
matlabbe
50fdc210c9
Memory: added some warnings about pre-postdecimation parameters, updated their description (removed negative decimation comment)
2019-06-17 10:19:54 -04:00
matlabbe
e09a872fa2
GUI: added word wrap to transform label in loop closure viewer. Memory: creating a RegistraitonVis for stereo from motion if memory's registration pipeline is not vis only.
2019-06-02 14:59:11 -04:00
matlabbe
8cb923b332
Reduced local bundle on loop closure iterations to 5. Updated graph::filterLinks() to handle selfRef link type. DbViewer: removed gravity constraints from constraints view.
2019-06-01 21:43:13 -04:00
matlabbe
d5d00fbd7d
merged master to imu_feature
2019-05-31 15:39:49 -04:00
matlabbe
e887d462ce
Memory: Added parameter Mem/UseOdomGravity, adding kGravity links when creating a node if IMU is present or Mem/UseOdomGravity is set. Fixed OpenCV4 related build errors on stereo fisheye rectification code. Signature: changed links from map to multimap to support having multiple self references (prior, gravity constraints...). DBReader: publish IMU orientation if a gravity link is detected.
2019-05-31 15:36:35 -04:00
matlabbe
cd6e51a968
fixed #401
2019-05-30 10:04:40 -04:00
matlabbe
e6f471d88e
Added imu to odom bundle adjustment. Added IMUFilter classes. Changed Aruco parameter prefix to Marker. Zed: publishing IMU data.
2019-05-07 18:57:53 -04:00
matlabbe
d4585960fc
RegVis: fixed orboctree descriptor extractions. KeypointItem: fixed placeholder gray scale for yellow features.
2019-04-22 19:50:41 -04:00
matlabbe
77ae8e108a
0.19.2: Refactored SensorData interface. DBReader: Fixed GPS not published. #345 : both g2o and gtsam working with GPS. g2o: added gravity edges.
2019-04-09 20:05:24 -04:00
matlabbe
d089e95e5a
MarkerDetection: added automatic marker's length estimation when depth image is provided (and when Aruco/MarkerLength is 0).
2019-02-22 20:01:09 -05:00
matlabbe
d6ca37a9e7
Integration of OpenCV's ArUco Marker Detection (see new parameter "RGBD/MarkerDetection")
2019-02-18 18:19:55 -05:00
matlabbe
08f3e6c08e
RGBD/LocalBundleOnLoopClosure: disabled on neighbor refining and fixed Reg/Force3DoF ignored
2019-02-17 21:57:52 -05:00
matlabbe
38b8746507
Added Mem/ImageCompressionFormat parameter (default .jpg)
2019-02-11 15:23:38 -05:00
matlabbe
0192cac18a
updated recovery tool to support databases without image data kept
2019-01-28 16:11:05 -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
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
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
97f956f138
Memory: readd GPS data as priors
2018-12-26 15:37:22 +00:00
matlabbe
200ec8e5db
0.18.3: added landmarks (graph optimization, localization, navigation)
2018-12-07 18:29:41 -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
8333677dc6
Improved/optimized Rtabmap timing performance for large datasets
2018-11-09 17:28:55 -05:00
matlabbe
71ae076b44
BayesFilter: improved performance when prediction didn't change or only a new id is appended to prediction. Memory: fixed seg fault when using local bundle adjustment on loop closure and memory management is enabled.
2018-11-06 14:45:57 -05:00
matlabbe
c2b1a9fbd7
Fixed long loading time of large working memory
2018-11-05 11:50:49 -05:00
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
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
3bc8fc4c11
Integrated GPS into likelihood computation
2018-10-22 12:31:07 -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
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
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
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
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
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
124543c57d
Fixed compilation errors with OpenCV 4.0.0 ( #309 )
2018-09-18 22:43:18 -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
30290c36d7
Rtabmap: Added deleteLastLocation() and rejectLastLoopClosure() methods
2018-08-29 12:29:11 -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
d5128ddc18
Added parameter Mem/CovOffDiagIgnored (default true)
2018-08-05 12:51:50 -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