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 )
...
* 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
...
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
