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597 Commits

Author SHA1 Message Date
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
9cb1e4bbc5 CameraRealSense2: Added Dual Mode (T265+D400) 2019-10-03 21:06:33 -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
536f001479 Added OptimizerCeres class (Optimizer/Strategy=3) 2019-08-17 03:55:04 -04:00
matlabbe
4b118ae660 Added FastCV support (see FAST/CV parameter). VWDictionary: loading fixed dictionary only on updates (to avoid loading it multiple times when memory is reset). 2019-08-14 12:09:56 -04:00
matlabbe
6767c2ade2 0.19.5: added Icp/RangeMin and Icp/RangeMax parameters 2019-08-01 16:21:01 -04:00
matlabbe
283274e056 DbViewer: Added Gravity info (https://github.com/introlab/rtabmap_ros/issues/323) 2019-07-29 10:45:16 -04:00
matlabbe
89f1e809e6 CameraK4A: use mkv framerate if camera rate is -1. Preferences/Source: fixed imu filter parameters not reset on restore defaults 2019-07-11 18:13:20 -04:00
matlabbe
3c7719f6d8 Added CameraK4A driver (only MKV playback supported yet). Fixed build with realsense2 support on Windows. Preferences: added imu filtering parameters to ini file. 2019-07-09 20:48:09 -04:00
matlabbe
78d0d60b9f Added RealSense SR300 camera support (#421) 2019-07-05 11:19:45 -04:00
matlabbe
9d8fd364e3 UI/Preferences: Adjusted Vis/MinInliersDistribution decimals 2019-06-18 14:22:29 -04:00
matlabbe
50fdc210c9 Memory: added some warnings about pre-postdecimation parameters, updated their description (removed negative decimation comment) 2019-06-17 10:19:54 -04:00
matlabbe
d205683eb5 Added parameters Vis/MeanInliersDistance and Vis/MinInliersDistribution 2019-06-16 18:54:39 -04:00
matlabbe
85edc57ba5 Added RGBD/MaxLocalizationDistance parameter 2019-06-12 16:03:52 -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
e09a872fa2 GUI: added word wrap to transform label in loop closure viewer. Memory: creating a RegistraitonVis for stereo from motion if memory's registration pipeline is not vis only. 2019-06-02 14:59:11 -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
71f7515775 Added resolution parameters for Usb camera and realsense2 sources 2019-05-15 19:21:32 -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
d4b4379829 Added T265 support (stereo-only yet) 2019-05-09 19:20:26 -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
195f6147ad DBViewer: added feature/line color menu option. CameraImages/DBReader: added maxFrames parameter 2019-04-26 19:20:35 -04:00
matlabbe
a5350c4891 Optimizer: fixed bad g2o optimizations on 2d slam when there are 3D landmarks (#384). DBViewer: landmarks can be now visualized. 2019-04-26 14:03:25 -04:00
matlabbe
a0f74eaee2 Added new 2d feature ORB OcTree (approach used in ORB_SLAM2). report tool: fixed assert caused by bidirectional links. detectModeLoopClosures tool: check if input path exists. 2019-04-18 19:50:58 -04:00
matlabbe
a668ec35ab Export: normal estimation can be disabled, clouds can be exported with normals 2019-04-17 13:45:42 -04:00
matlabbe
9b63297a6b New parameter "RGBD/MaxOdomCacheSize" used in localization mode to reject similar locations (default disabled) 2019-04-05 19:37:40 -04:00
matlabbe
fc9c762516 Added Optimizer/GravitySigma parameter (with GTSAM support). 2019-03-31 15:51:50 -04:00
matlabbe
c0a7c3a344 0.19.1: Added OdometryVINS (VINS-Fusion integration, Odom/Strategy=9) 2019-03-18 20:45:34 -04:00
matlabbe
0c8194373f DbViewer: added "Edit optimized map" and "Regenerate Optimized Map" actions 2019-03-16 15:27:49 -04:00
matlabbe
cf4db63226 New parameter: OdomF2M/ValidDepthRatio 2019-03-06 12:35:54 -05:00
matlabbe
530da08145 Added Aruco/MaxDepthError parameter 2019-03-01 18:34:49 -05:00
matlabbe
d089e95e5a MarkerDetection: added automatic marker's length estimation when depth image is provided (and when Aruco/MarkerLength is 0). 2019-02-22 20:01:09 -05:00
matlabbe
d6ca37a9e7 Integration of OpenCV's ArUco Marker Detection (see new parameter "RGBD/MarkerDetection") 2019-02-18 18:19:55 -05:00
matlabbe
38b8746507 Added Mem/ImageCompressionFormat parameter (default .jpg) 2019-02-11 15:23:38 -05:00
matlabbe
6fc884b575 Export: exporting with intensity for laser scans 2019-02-06 18:46:37 -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
200ec8e5db 0.18.3: added landmarks (graph optimization, localization, navigation) 2018-12-07 18:29:41 -05:00
matlabbe
b862d6bc48 0.18.2: Added Odom/GuessSmoothingDelay parameter 2018-11-21 11:57:04 -05:00
matlabbe
c5057eb6b3 exportGraph: added RGBD-SLAM format (10) without motion capture coordinate transformation (#332) 2018-11-08 12:26:37 -05:00
matlabbe
1784a0877f PostProcessingDialog: don't close dialog if validate failed 2018-11-05 18:49:50 -05:00
matlabbe
09a63bbc5b Rtabmap::detectorMoreLoopClosures() added intraSession and interSession parameters 2018-11-05 18:40:08 -05:00
matlabbe
fad1993a01 Preferences->Source: added Tara stack widget panel 2018-10-31 11:00:01 -04:00
e-con Systems India Pvt Ltd
53513b6632 Tara Camera added to Master branch (#331) 
* Tara Camera integration

* Update preferencesDialog.ui

* Update preferencesDialog.ui
 2018-11-01 02:57:07 +12:00
matlabbe
12a7349165 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. 2018-10-25 16:31:13 -04:00
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
8e99291e13 0.18: Camera calibration and LaserScan Info refactoring (#324) 
* Saving full camera calibration in database, added angle min/max/inc to LaserScan.

* Updated laserscan info save/load in db

* Database: added Tag table, added env_sensors field to Node

* fixed serialization/deserialization of stereo camera model

* fixed multi-calibration db saving

* fixed rebase errors

* Tango: Added saving environmental sensors option

* Memory: Save env sensors

* Tango: fixed env sensor ids

* DBViewer: show env sensors values

* DBViewer: added calibration details on tooltip

* increased package version to 0.18.0

* Fixed LaserScan copies when angleIncrement is valid

* fixed build error without OctoMap dependency
 2018-10-23 14:35:14 -04:00
matlabbe
d2abc3a237 Added parameter Rtabmap/LoopGPS (default true) to enabled/disable the use of GPS in likelihood computation 2018-10-22 14:39:30 -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
16309e6d18 Added StereoSGBM (fixed #77) (#318) 
* Added StereoSGBM class

* fixed StereoSGBM build for OpenCV2
 2018-10-04 16:10:16 -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