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93 Commits
Author SHA1 Message Date
matlabbe cad184e82b Added Icp/PMForce4DoF parameter (works only with libpointmatcher > April 2020). Fixed some deprecated warnings. 2021-02-24 09:43:22 -05:00
matlabbe b759b1b4d1 DBReader: set calibrated true when only scans in db. RegIcp: added intensity matching option when complexity is low. OdomF2M: accept first key frame on low complexity if a guess is provided. DbViewer: added gravity visualization in 3D view. 2021-02-01 11:31:45 -05:00
matlabbe d733029565 Increased version to 0.20.7. OdometryF2M: added support for intensity field, removed ignored key frames when there is low scan complexity. RegistrationIcp: added Icp/PMMatcherIntensity, Icp/PointToPlaneGroundNormalsUp and Icp/PointToPlaneLowComplexityStrategy parameters. Rtabmap: when graph optimized from end, increased optimization error before warning that resulting map correction is not identity (this could happen with GTSAM as the root is not perfectly fixed). CloudViewer: added coordinate frame scaling option, added rainbow colormap option for scan intensity. DBViewer: fixed local proximity merged scans not shown modified after refining those links, show intensity, fixed constraints view not updated after rejecting a link. MainWindow: added intesity support with odometry scans. 2020-11-28 17:28:34 -05:00
matlabbe a80e062bef Fixed build error in Trusty 2020-10-05 18:17:18 -04:00
matlabbe bbccbd63e4 Increased version to 0.20.5 
Refactored how features are stored in Signature (significative memory optimization, causing major refactoring in Memory, RegistrationVis, OdometryF2M)
FLANN: optimized memory usage when Kp/IncrementalFlann is false
Added memory usage functions
Added statistics Loop/Visual_inliers_ratio/ and Memory/RAM_estimated/MB
EpipolarGeometry: templated findPairs functions
graph::filterLinks: added inverted option
LocalBundleOnLoopClosure: Force to use only neighbor links
MainWindow: fixed max depth filtering for map's features
Rtabmap::getSignatureCopy() fixed links not returned
Added UPlot::getAllCurveDataAsText() function.
DbViewer: fixed features not rendered in right view when failing ro refine a constraint
report: added --export and --export_prefix options (to export figures data)
 2020-10-05 17:34:32 -04:00
matlabbe f263d560b4 OdomF2M: fixed complexity null for first scan is not having normals already 2020-08-21 14:32:08 -04:00
matlabbe 07d21e6b03 VINS update log: printf to UDEBUG 2020-07-30 12:34:58 -04:00
matlabbe c7be9a23ee OdometryF2M: refactored imu buffer 2020-05-31 14:33:20 -04:00
matlabbe 415a2778f1 Added Features2d::limitKeypoints() with grid options. Odometry: if imu is provided and no guess is provided, the change of orientation of imu is used for rotation guess (overwrite rotation from Odom/GuessFromMotion). OdometryInfo: added gravity errors when imu is used. Preferences: added a second GravitySigma parameter (overwritting Optimizer/GravitySigma for odometry is not negative) for F2M odometry panel. 2020-05-31 11:22:12 -04:00
matlabbe 208f1e5b7c OdomF2M: fixed complexity check on 2d scans (https://github.com/introlab/rtabmap_ros/issues/412) 2020-05-25 20:07:58 -04:00
matlabbe c7b84c60bc Parameters: added Mem/StereoFromMotion (default false) and RGBD/ProximityOdomGuess (default false). Visual proximity detection is done before computing the loop closure transform (the later is ignored if visual proximity succeeded with a node close to loop closure, add Loop/Suppressed_hypothesis_id statistics to know when this happens). Changed Loop/Map_correction to Loop/Odom_correction (to better see the actual jumps of localization about /base_link frame, not /odom frame). util3d::generateWords3DMono() is now using openCV's implementation of five-point algorithm (this fixed some cases for which the older approach couldn't find any solution). UPlot: added scrolling area on the legend, added global legend option to show all curve statistics (mean, stddev,max). MainWindow's open dialog: reopen last directory when reopening a different database. ParametersToolBox: show default parameter value in tooltip. rtabmap-report: add --start option. rtabmap-reprocess: show details about proximity and loop detections, reset all localization statistics after changing database. 2020-05-19 15:01:50 -04:00
matlabbe 607dc67135 IMU: removing yaw from local imu transform when creating gravity links 2020-04-10 19:24:45 -04:00
matlabbe 43df2a05da OdomF2M: fixed roll/pitch ignored in imu local transform 2020-04-09 19:22:57 -04:00
matlabbe 18ff5bb410 OdomF2M/Icp: fixed substracting points when normals are not used 2020-04-09 09:59:22 -04:00
matlabbe 06caa328a4 Lidar low complexity update. util3d::computeNormalsComplexity(): added optional transform (used in RegistrationIcp to get normal vectors in right coordinate frame). RegistrationIcp: Fixed PointToPoint ICP not used with PM when recomputing transform from low complexity. Added more info in warning messages when low complexity happens. OdometryF2M: avoid adding key frame when scan has low complexity. Same for the first frame to init the local scan map. 2020-03-28 16:25:27 -04:00
matlabbe af9e113112 Gui: added missing OdomF2M/ScanRange parameter 2019-12-11 17:17:29 -05:00
PrescilliaA 4479a6f7e8 Odometry local map can be limited by range (#482) 
* Odometry local map is now dependent on robot range and not on time, recalculating normals after adding new scan to the map as well
 2019-12-11 13:43:38 -05:00
matlabbe 1e298dcfa2 CameraRealSense2: updated how imu are published in inter mode and fixed some local transforms. GUI-VINS: features are shown in Odometry view. 2019-10-13 14:48:11 -04:00
matlabbe 955660ba2a CameraRealSense2: added stereo ir support for D400 cameras, added publishInterIMU parameter (required for VINS fusion). 2019-09-18 20:55:48 -04:00
matlabbe b2b1977f8b Deprecated getClosestTransform(), use getTransform() instead. OdometryF2M: removed patch about forcing roll/pitch from IMU (BA is already doing the job). 2019-09-15 17:31:58 -04:00
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 536f001479 Added OptimizerCeres class (Optimizer/Strategy=3) 2019-08-17 03:55:04 -04:00
matlabbe 2a1b737470 OdometryVINS: fixed output pose orientation (D435i and euroc compatible) 2019-08-15 16:46:56 -04:00
matlabbe b5f5623af4 CameraRealSense2: updated how stamping is done, updated default D435 frame resolution/fps 2019-06-06 17:17:11 -04:00
matlabbe 4c8af6d6e9 fix build errors with opencv2, added Transform::getClosestTransform() function for convenience. 2019-05-31 16:51:37 -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 f8a8e55e7e UI: Update preferences with the new imu filter parameters. Camera: added imu filtering option. Updated support for zedm, D435i and T265. 2019-05-13 18:42:46 -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 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 6f4dce52fc OdometryOkvis: return pose only after processing measurements (images) 2019-03-20 22:10:15 -04:00
matlabbe 3cafdf911b Docker: added new "latest" version of jfr2018 image (including VINS and latest rtabmap version). Updated jfr2018 scripts to easily switch to host installed rtabmap instead of docker 2019-03-20 19:36:56 -04:00
matlabbe 24a4d91ee8 OdometryOKVIS: added warning if config file doesn't exist, also replace ~ by home directory for convenience 2019-03-20 13:10:14 -04:00
matlabbe c0a7c3a344 0.19.1: Added OdometryVINS (VINS-Fusion integration, Odom/Strategy=9) 2019-03-18 20:45:34 -04:00
matlabbe c8db45b2a4 reverted 977f8eb262 (was not the problem...) 2019-03-14 19:06:32 -04:00
matlabbe 977f8eb262 OdometryF2M: fixed orientation ignored when setting initial pose for scans 2019-03-14 14:15:53 -04:00
matlabbe cf4db63226 New parameter: OdomF2M/ValidDepthRatio 2019-03-06 12:35:54 -05:00
matlabbe 9da2c1918f CameraImages: moved scan filtering stuff to CameraThread 
Preferences->Source: refactored scan filtering parameters
OdometryF2M and OdometryF2F: moved odom orientation init from IMU to OdometryROS instead
 2019-01-15 15:41:07 -05:00
matlabbe abbcc4f8a9 CameraFreenect: set accelerometer values in IMU member of SensorData. OdomF2M and OdomF2F: intialize orientation with gravity for the first frame if accelerometer value is valid in SensorData. 2018-12-01 00:25:48 -05:00
matlabbe b862d6bc48 0.18.2: Added Odom/GuessSmoothingDelay parameter 2018-11-21 11:57:04 -05:00
matlabbe 433e20869c fixed #333 2018-11-08 10:52:12 -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 39e1d45369 Fixed build with OpenCV4 (#322) 2018-10-21 13:35:03 -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