matlabbe
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e8af8f7792
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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.
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2017-05-22 21:05:34 -04:00 |
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matlabbe
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385b7e3389
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Parameters: Added "Reg/VarianceNormalized". Registration: Transforms are now only normalized in Registration. Added rgbd_dataset tool. MainWindow: odom inliers-only shown option. ExportCloudsDialog: ignoring intermediate nodes for texturing (if they don't have data). DatabaseViewer: "optimized" checkbox enabled in Constraints view for non-neighbor links too.
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2017-05-22 11:48:01 -04:00 |
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matlabbe
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7f8ca64f64
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DbViewer: added frame selection when exporting poses. DBDriver: added getLaserScanInfo().
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2017-05-11 15:02:18 -04:00 |
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matlabbe
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104c1e6945
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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 "/".
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2017-05-11 15:02:18 -04:00 |
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matlabbe
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414e3555a5
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DepthCalibrationDialog: added distortion model parameters
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2017-05-11 14:44:15 -04:00 |
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Anton Onishchenko
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197bb2179f
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Depth calibration: move GetBinSize to clams namespace
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2017-05-11 11:38:42 +03:00 |
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Anton Onishchenko
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df40b0b8d3
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Depth calibration: using appropriate bin_width and bin_height for all cameras
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2017-05-10 13:54:11 +03:00 |
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matlabbe
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f023adff4b
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Export: supporting texturing with multi-camera
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2017-04-26 18:39:57 -04:00 |
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matlabbe
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6a2fe47b22
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Preferences: updated RGBD/ProximityPathMaxNeighbors description and default value (now 0=disabled)
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2017-04-26 14:06:42 -04:00 |
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matlabbe
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13425e1ad4
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3D Rendering: Added floor/ceiling filtering and normal estimation for scans
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2017-04-24 19:12:53 -04:00 |
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matlabbe
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6e1dbbcf4f
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Reverted change of cloudFromStereoImages() decimation, should be done after StereoBM to avoid backward compatibility problems
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2017-04-24 15:26:12 -04:00 |
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matlabbe
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1b71a96a3d
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Added rtabmap-kitti_dataset tool
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2017-04-24 12:17:18 -04:00 |
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matlabbe
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bc2da10713
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RealSense driver: added odometry option (ZR300)
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2017-04-21 21:24:23 -04:00 |
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matlabbe
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a274f3cf01
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Export Added RoiRatios parameter to texturing (#171)
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2017-04-20 11:51:23 -04:00 |
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matlabbe
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42fb02c36f
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zed 2.0: fixed sensing mode order, fixed conversion from zed pose to transform (when zed odometry is enabled)
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2017-04-18 20:16:04 -04:00 |
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akria_you
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b402ce1564
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change for zed sdk 2.0
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2017-04-18 15:03:10 +09:00 |
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matlabbe
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6f148c47e2
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0.12.15 Parameters: added "GridGlobal" parameter group, fixed https://github.com/introlab/rtabmap_ros/issues/162
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2017-04-10 16:59:48 -04:00 |
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matlabbe
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f1d96a30a4
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Export: Added blending option, gain compensation performance increased when exporting with textures
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2017-04-09 19:16:50 -04:00 |
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matlabbe
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b7dbf27931
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Parameters: added Grid/FullUpdate (default true). Updated how occupancy grid is updated after loop closure. OctoMap: added tree depth argument when creating 2d map, added full update argument on constructor (default false). MainWindow: using OccupancyGrid object instead of keeping in cache local grids (we can have actual time to update the global grid).
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2017-04-07 18:31:11 -04:00 |
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matlabbe
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1d8952867d
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MainWindow: added timing stats on global map creation. Updated util3d::occupancy2DFromLaserScan() and util3d::create2DMap() interfaces (hit/noHit scans in opencv matrix format). Parameter default: Grid/ProjRayTracing=true, Grid/NormalK=true
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2017-04-06 12:27:12 -04:00 |
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matlabbe
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aa37ac6038
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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
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2017-04-01 14:14:36 -04:00 |
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matlabbe
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accbe5a423
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Export: Added exposure fusion option
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2017-03-31 18:56:52 -04:00 |
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matlabbe
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767b29d5a3
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Updated detect more loop closures with optimization check to accept (like in dbviewer). DBViewer: added Depth image edition dialog. GainCompensator: now doing it on 3 channels separatly. Export: removed gain's alpha option, added max polygons option, added brightness/contrast auto balance option
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2017-03-31 18:56:52 -04:00 |
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matlabbe
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d21ae76fff
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0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
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2017-03-12 21:21:09 -04:00 |
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matlabbe
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d1e9525052
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Added viewpoint to laser scan 2D ray tracing
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2017-03-06 12:07:59 -05:00 |
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matlabbe
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e003fb8d35
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Texturing: Added min polygon cluster size parameter
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2017-03-04 18:20:26 -05:00 |
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matlabbe
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300e37124c
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GTSAM: added optimizer approach option #172
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2017-03-02 16:46:15 -05:00 |
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matlabbe
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9b3b7b09a0
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Projection ray tracing, keep empty cells from projection
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2017-03-01 17:34:28 -05:00 |
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matlabbe
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17121d5861
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Added parameter "Grid/ProjRayTracing" and renamed "Grid/3DGroundIsObstacle" to "Grid/GroundIsObstacle"
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2017-03-01 14:06:21 -05:00 |
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matlabbe
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c9f6dabfc6
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Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
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2017-02-28 21:50:50 -05:00 |
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matlabbe
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2565239a1b
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Export dialog: hiding not used options, exporting can be now canceled on texturing phase
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2017-02-26 18:17:00 -05:00 |
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matlabbe
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3cf21a7e7f
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fixed laserScanFromDepthImage order (counterclockwise)
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2017-02-24 15:26:42 -05:00 |
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matlabbe
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b0170d1f6f
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OdometryF2M: generating custom ids for bundle adjustement https://github.com/introlab/rtabmap_ros/issues/151
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2017-02-24 11:50:29 -05:00 |
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matlabbe
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8de6cb1ca0
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Added util3d::projectCloudToCamera() with PCLPointcloud2 interface, update util2d::fillDeptHoles() to support CV_32FC1
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2017-02-23 00:15:43 -05:00 |
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matlabbe
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af1cdadabd
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Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
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2017-02-15 19:07:10 -05:00 |
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matlabbe
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f7616f6e94
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Tango: update to 0.11.14
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2017-02-05 17:24:45 -05:00 |
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matlabbe
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bfb9feaf07
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TextureMapping: added maximum camera distance
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2017-01-31 23:26:35 -05:00 |
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matlabbe
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0f96bf7709
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Added FREAK detector/descriptor option with OpenCV3
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2017-01-30 22:24:51 -05:00 |
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matlabbe
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79a211ad02
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RtabmapThread: changed state stack for a queue to process events in FIFO order (instead of FILO). Tango: Added detector type parameter (FREAK is now the default with 400 features).
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2017-01-27 11:47:57 -05:00 |
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matlabbe
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496319a2b0
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Export: Added merging textures option (default true)
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2017-01-19 11:20:48 -05:00 |
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matlabbe
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a011a6af64
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Refactored texture projection (avoid saving image on disk at this step)
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2017-01-16 18:29:14 -05:00 |
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matlabbe
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6abed48af6
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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.
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2017-01-03 21:05:00 -05:00 |
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matlabbe
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cd62e67011
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Localization: Revert mapCorrection transform to one before being lost (when odom can be computed again)
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2016-12-05 15:16:04 -05:00 |
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matlabbe
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3c17049084
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Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
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2016-12-03 21:49:40 -05:00 |
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matlabbe
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d2287ab9f4
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Backward compatibility (DBViewer, DBReader) with old database format not saving CameraModel's image size, cx and cy
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2016-12-02 13:43:44 -05:00 |
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matlabbe
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a5f4468c54
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Fixed build warnings about variables not used in CameraRGBD and CameraStereo classes (depending on which sensor is available)
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2016-12-02 12:29:38 -05:00 |
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matlabbe
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f2dbfa9b33
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StereoCameraModel: baseline computed with Tx of left camera too. Fixed QMultiComboBox not showing on windows. Avoid updating grid view if there are no local grids in signatrues. Clear cached data of StatsItem when detecting smaller timestamp than last ones.
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2016-12-01 21:46:09 -05:00 |
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matlabbe
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d0dddaf7cc
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DbViewer: fixed bug where null links were added when added links doen't have enough inliers. g2o/Optimizer: changed back to Levenberg as GaussNewton seems worst on Kinect multi-session mapping
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2016-12-01 11:59:49 -05:00 |
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matlabbe
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4d585cbb11
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Fixed bug where Grid/MaxObstacleHeight didn't work when the ground is not observable
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2016-11-28 14:02:06 -05:00 |
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matlabbe
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1910cef3d1
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g2o/Optimizer changed default to 1 (Gauss Newton)
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2016-11-27 18:32:48 -05:00 |
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