matlabbe
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0902ccc340
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Updated error message when SBA is done on multicam setup.
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2020-05-26 11:04:23 -04:00 |
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matlabbe
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536f001479
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Added OptimizerCeres class (Optimizer/Strategy=3)
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2019-08-17 03:55:04 -04:00 |
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matlabbe
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1784a0877f
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PostProcessingDialog: don't close dialog if validate failed
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2018-11-05 18:49:50 -05:00 |
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matlabbe
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09a63bbc5b
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Rtabmap::detectorMoreLoopClosures() added intraSession and interSession parameters
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2018-11-05 18:40:08 -05:00 |
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matlabbe
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12a7349165
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Removed Optimizer:computeBACorrespondences() duplicated 3d points (more than 2 frames can reference a 3D point), added option to rematch features. Bundler: added more options to export dialog, fixed inverted colors.
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2018-10-25 16:31:13 -04:00 |
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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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9276607920
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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.
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2016-11-14 19:54:31 -05:00 |
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matlabbe
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d2ebdea96d
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Added parameter "g2o/PixelVariance" (default 1)
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2016-04-06 15:24:36 -04:00 |
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matlabbe
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8030d89634
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Implemented OptimizerG2O::optimimzeBA(). Updated PostProcessingDialog (g2o sba option). Fixed words descriptors not filled in rtabmap::getMap3D(). CameraModelD(): return 5 null coeff distorsions if not set
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2016-03-28 18:19:17 -04:00 |
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matlabbe
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40866d5e78
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Merged master -> devel, updated default post-processing parameters
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2015-08-15 12:58:29 -04:00 |
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matlabbe
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31d374e141
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Added cvsba support for post-processing bundle adjustment (SBA)
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2015-08-12 20:59:21 -04:00 |
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matlabbe
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5b5a32839c
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Added close buttons to CameraViewer and OdometryViewer dialogs
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2015-04-06 13:35:44 -04:00 |
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Mathieu Labbe
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e7ae2c5e31
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Added "Restaure defaults" buttons to ExportClouds and PostProcessing dialogs
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2015-01-14 15:09:16 -05:00 |
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matlabbe
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1597cfc293
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GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1940 f169173b-cf89-36c8-b27e-44dbe73f0c83
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2014-10-30 14:43:43 +00:00 |
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