matlabbe
f023adff4b
Export: supporting texturing with multi-camera
2017-04-26 18:39:57 -04:00
matlabbe
6a2fe47b22
Preferences: updated RGBD/ProximityPathMaxNeighbors description and default value (now 0=disabled)
2017-04-26 14:06:42 -04:00
matlabbe
13425e1ad4
3D Rendering: Added floor/ceiling filtering and normal estimation for scans
2017-04-24 19:12:53 -04:00
matlabbe
6e1dbbcf4f
Reverted change of cloudFromStereoImages() decimation, should be done after StereoBM to avoid backward compatibility problems
2017-04-24 15:26:12 -04:00
matlabbe
1b71a96a3d
Added rtabmap-kitti_dataset tool
2017-04-24 12:17:18 -04:00
matlabbe
bc2da10713
RealSense driver: added odometry option (ZR300)
2017-04-21 21:24:23 -04:00
matlabbe
a274f3cf01
Export Added RoiRatios parameter to texturing ( #171 )
2017-04-20 11:51:23 -04:00
matlabbe
42fb02c36f
zed 2.0: fixed sensing mode order, fixed conversion from zed pose to transform (when zed odometry is enabled)
2017-04-18 20:16:04 -04:00
akria_you
b402ce1564
change for zed sdk 2.0
2017-04-18 15:03:10 +09:00
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
f1d96a30a4
Export: Added blending option, gain compensation performance increased when exporting with textures
2017-04-09 19:16:50 -04:00
matlabbe
b7dbf27931
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).
2017-04-07 18:31:11 -04:00
matlabbe
1d8952867d
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
2017-04-06 12:27:12 -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
accbe5a423
Export: Added exposure fusion option
2017-03-31 18:56:52 -04:00
matlabbe
767b29d5a3
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
2017-03-31 18:56:52 -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
d1e9525052
Added viewpoint to laser scan 2D ray tracing
2017-03-06 12:07:59 -05:00
matlabbe
e003fb8d35
Texturing: Added min polygon cluster size parameter
2017-03-04 18:20:26 -05:00
matlabbe
300e37124c
GTSAM: added optimizer approach option #172
2017-03-02 16:46:15 -05:00
matlabbe
9b3b7b09a0
Projection ray tracing, keep empty cells from projection
2017-03-01 17:34:28 -05:00
matlabbe
17121d5861
Added parameter "Grid/ProjRayTracing" and renamed "Grid/3DGroundIsObstacle" to "Grid/GroundIsObstacle"
2017-03-01 14:06:21 -05:00
matlabbe
c9f6dabfc6
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
matlabbe
2565239a1b
Export dialog: hiding not used options, exporting can be now canceled on texturing phase
2017-02-26 18:17:00 -05:00
matlabbe
3cf21a7e7f
fixed laserScanFromDepthImage order (counterclockwise)
2017-02-24 15:26:42 -05:00
matlabbe
b0170d1f6f
OdometryF2M: generating custom ids for bundle adjustement https://github.com/introlab/rtabmap_ros/issues/151
2017-02-24 11:50:29 -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
af1cdadabd
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.
2017-02-15 19:07:10 -05:00
matlabbe
f7616f6e94
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
matlabbe
bfb9feaf07
TextureMapping: added maximum camera distance
2017-01-31 23:26:35 -05:00
matlabbe
0f96bf7709
Added FREAK detector/descriptor option with OpenCV3
2017-01-30 22:24:51 -05:00
matlabbe
79a211ad02
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).
2017-01-27 11:47:57 -05:00
matlabbe
496319a2b0
Export: Added merging textures option (default true)
2017-01-19 11:20:48 -05:00
matlabbe
a011a6af64
Refactored texture projection (avoid saving image on disk at this step)
2017-01-16 18:29:14 -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
cd62e67011
Localization: Revert mapCorrection transform to one before being lost (when odom can be computed again)
2016-12-05 15:16:04 -05:00
matlabbe
3c17049084
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
matlabbe
d2287ab9f4
Backward compatibility (DBViewer, DBReader) with old database format not saving CameraModel's image size, cx and cy
2016-12-02 13:43:44 -05:00
matlabbe
a5f4468c54
Fixed build warnings about variables not used in CameraRGBD and CameraStereo classes (depending on which sensor is available)
2016-12-02 12:29:38 -05:00
matlabbe
f2dbfa9b33
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.
2016-12-01 21:46:09 -05:00
matlabbe
d0dddaf7cc
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
2016-12-01 11:59:49 -05:00
matlabbe
4d585cbb11
Fixed bug where Grid/MaxObstacleHeight didn't work when the ground is not observable
2016-11-28 14:02:06 -05:00
matlabbe
1910cef3d1
g2o/Optimizer changed default to 1 (Gauss Newton)
2016-11-27 18:32:48 -05:00
matlabbe
121446d648
Removed parameter "OdomF2M/FixedMapPath". GUI: added odometry disabled option. Rtabmap can now localize even if odometry input is null (only in localization mode).
2016-11-27 14:30:11 -05:00
matlabbe
e65db3cba5
Tango: fixed localization mode not working
2016-11-25 15:20:42 -05:00
matlabbe
14908e3a11
rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded.
...
Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
2016-11-21 17:09:04 -05:00
matlabbe
ed83d90603
RTAB-Map.exe can be started with parameters as arguments (in similar way than rtabmap-console)
2016-11-16 17:39:17 -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
7fd3d9f331
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
matlabbe
a7971373a6
Added bilateral filtering option. CloudViewer: lighting and edge visibility options.
2016-11-03 17:04:31 -04:00
