 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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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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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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121446d648
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Removed parameter "OdomF2M/FixedMapPath". GUI: added odometry disabled option. Rtabmap can now localize even if odometry input is null (only in localization mode).
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2016-11-27 14:30:11 -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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013eba1d58
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0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes.
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2016-08-31 12:43:53 -04:00 |
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matlabbe
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ca6cd19fb1
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Updated Copyright year and About dialog summary
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2016-07-17 21:57:10 -04:00 |
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matlabbe
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ccc4b4a6c2
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Parameters renamed: "OdomLocalMap" group is now "OdomF2M" for Frame to Map odometry. Visual registration feature matching: using guess transform to limit the radius of correspondences "Vis/CorGuessWinSize=16"
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2016-02-22 16:13:14 -05:00 |
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matlabbe
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eb21280f04
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Changed CameraModel::isValid() to CameraModel::isValidForProjection() for clarity (in contrast to CameraModel::isValidForRectification())
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2016-01-19 21:01:56 -05:00 |
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matlabbe
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703b7181d9
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Refactoring: Split Odometry classes in multiple headers. Added Odometry::create(type) for convenience, working with "Odom/Strategy" parameter. Renamed OdometryBOW to OdometryLocalMap (more descriptive name).
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2016-01-05 16:37:14 -05:00 |
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matlabbe
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535cbbac5a
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fixed double warnings "Camera has no more images"
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2015-11-30 19:59:35 -05:00 |
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matlabbe
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fbf967066a
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Added LccBow/VarianceFromInliersCount parameter (linked with Odom/VarianceFromInliersCount in standalone gui)
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2015-10-02 10:40:18 -04:00 |
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matlabbe
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bf0790f3b9
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Added Odom/VarianceFromInliersCount parameter (default false)
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2015-09-28 21:45:41 -04:00 |
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matlabbe
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6df403ed42
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Refactored Camera classes and Preferences->Source menu
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2015-06-26 18:21:32 -04:00 |
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matlabbe
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6f1df94b18
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Merge branch 'devel' of github.com:introlab/rtabmap into devel
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2015-06-25 16:05:06 -04:00 |
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matlabbe
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01f2f1348c
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Added OdomBow/FixedLocalMapPath parameter
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2015-06-25 16:04:42 -04:00 |
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matlabbe
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ad23421c9b
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Removed odometry warning when some frames are ignored (when camera rate is faster than odometry)
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2015-06-24 20:32:46 -04:00 |
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Mathieu Labbe
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50eeda5b95
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merged multicamera branch into devel branch
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2015-06-16 17:41:51 -04:00 |
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matlabbe
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b8dccc2228
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Added CameraStereoImages class to read stereo images from a directory. Added a particle filter to smooth odometry trajectory. Added parameter RGBD/OptimizeEpsilon to limit TORO iterations when error improvement is small. Added Rtabmap/CreateIntermediateNodes parameter: this can be used to keep all odometry poses 'between' nodes used for loop closure detection. Added PnP approach to loop closure constraint estimation. Fixed decimation of stereo images when image size is odd.
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2015-06-11 16:57:16 -04:00 |
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Mathieu Labbe
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c6d0d47b1c
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Added multi-camera feature
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2015-05-29 14:46:48 -04:00 |
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Mathieu Labbe
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fa3a2421f6
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Added Monocular SLAM (experimental), Odometry classes refactoring
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2015-04-23 22:01:41 -04:00 |
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