Bump 0.20.8 version. Parameters: updated default of Vis/CorGuessWinSize=40 (was 20), GFTT/MinDistance=7 (was 3), Optimizer/GravitySigma=0.3 if built with g2o or gtsam. Those parameters help for smooth tracking on latest sensors with higher resolution and use IMU by default if available. Updated docker jfr2018 to use original parameters. CameraStereoZed: wait for imu to be available before sending frames (Zed-m and Zed2).

CMakeLists.txt

@@ -21,7 +21,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
 SET(RTABMAP_MINOR_VERSION 20)
-SET(RTABMAP_PATCH_VERSION 7)
+SET(RTABMAP_PATCH_VERSION 8)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
   

corelib/include/rtabmap/core/Parameters.h

@@ -296,7 +296,7 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(FAST, CV,                 int, 0,       "Enable FastCV implementation if non-zero (and RTAB-Map is built with FastCV support). Values should be 9 and 10.");
 
     RTABMAP_PARAM(GFTT, QualityLevel,      double, 0.001, "");
-    RTABMAP_PARAM(GFTT, MinDistance,       double, 3,    "");
+    RTABMAP_PARAM(GFTT, MinDistance,       double, 7,    "");
     RTABMAP_PARAM(GFTT, BlockSize,         int, 3,       "");
     RTABMAP_PARAM(GFTT, UseHarrisDetector, bool, false,  "");
     RTABMAP_PARAM(GFTT, K,                 double, 0.04, "");
@@ -408,7 +408,11 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(Optimizer, Robust,          bool, false,     uFormat("Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies). Not compatible with \"%s\" if enabled.", kRGBDOptimizeMaxError().c_str()));
     RTABMAP_PARAM(Optimizer, PriorsIgnored,   bool, true,      "Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this.");
     RTABMAP_PARAM(Optimizer, LandmarksIgnored,   bool, false,  "Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this.");
+#if defined(RTABMAP_G2O) || defined(RTABMAP_GTSAM)
+    RTABMAP_PARAM(Optimizer, GravitySigma,    float, 0.3,      uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()));
+#else
     RTABMAP_PARAM(Optimizer, GravitySigma,    float, 0.0,      uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()));
+#endif
 
 #ifdef RTABMAP_ORB_SLAM2
     RTABMAP_PARAM(g2o, Solver,            int, 3,          "0=csparse 1=pcg 2=cholmod 3=Eigen");
@@ -605,7 +609,7 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(Vis, CorType,                  int, 0,      "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
     RTABMAP_PARAM(Vis, CorNNType,                int, 1,    uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7. Used for features matching approach.", kVisCorType().c_str()));
     RTABMAP_PARAM(Vis, CorNNDR,                  float, 0.8,  uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()));
-    RTABMAP_PARAM(Vis, CorGuessWinSize,          int, 20,     uFormat("[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.", kVisCorType().c_str()));
+    RTABMAP_PARAM(Vis, CorGuessWinSize,          int, 40,     uFormat("[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.", kVisCorType().c_str()));
     RTABMAP_PARAM(Vis, CorGuessMatchToProjection, bool, false, uFormat("[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.", kVisCorType().c_str()));
     RTABMAP_PARAM(Vis, CorFlowWinSize,           int, 16,     uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
     RTABMAP_PARAM(Vis, CorFlowIterations,        int, 30,     uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));

corelib/src/camera/CameraRealSense2.cpp

@@ -113,7 +113,10 @@ CameraRealSense2::~CameraRealSense2()
 						UWARN("%s", error.what());
 					}
 				}
+#ifdef WIN32
 				dev_[i]->hardware_reset(); // To avoid freezing on some Windows computers in the following destructor
+				// Don't do this on linux (tested on Ubuntu 18.04, realsense v2.41.0): T265 cannot be restarted
+#endif
 				delete dev_[i];
 			}
 		}

corelib/src/camera/CameraStereoZed.cpp

@@ -565,7 +565,22 @@ SensorData CameraStereoZed::captureImage(CameraInfo * info)
 
         if(res==sl::SUCCESS)
 #else
-        sl::ERROR_CODE res = zed_->grab(rparam);
+
+		sl::ERROR_CODE res;
+		bool imuReceived = true;
+		do
+		{
+			res = zed_->grab(rparam);
+
+			// If the sensor supports IMU, wait IMU to be available before sending data.
+			if(imuPublishingThread_ == 0 && !imuLocalTransform_.isNull())
+			{
+				 sl::SensorsData imudatatmp;
+				res = zed_->getSensorsData(imudatatmp, sl::TIME_REFERENCE::IMAGE);
+				imuReceived = res == sl::ERROR_CODE::SUCCESS && imudatatmp.imu.is_available && imudatatmp.imu.timestamp.data_ns != 0;
+			}
+		}
+		while(src_ == CameraVideo::kUsbDevice && (res!=sl::ERROR_CODE::SUCCESS || !imuReceived) && timer.elapsed() < 2.0);
 
         if(res==sl::ERROR_CODE::SUCCESS)
 #endif

docker/jfr2018/run_euroc_datasets.sh

@@ -133,12 +133,14 @@ do
        --RGBD/ProximityBySpace false\
        --Rtabmap/DetectionRate 2\
        --Kp/FlannRebalancingFactor 1.0\
+       --GFTT/MinDistance 3\
        --Odom/Strategy $STRATEGY\
        --Mem/STMSize 30\
        --Mem/UseOdomFeatures false \
        --Mem/BinDataKept false \
        --Rtabmap/CreateIntermediateNodes false\
        --Vis/CorNNDR 0.6 \
+       --Vis/CorGuessWinSize 20 \
        $V203_params\
        $F2F_params\
        --OdomORBSLAM2/VocPath /root/ORBvoc.txt\

docker/jfr2018/run_kitti_datasets.sh

@@ -125,6 +125,7 @@ do
        --Mem/UseOdomFeatures false \
        --Mem/BinDataKept false \
        --Vis/CorNNDR 0.6 \
+       --Vis/CorGuessWinSize 20 \
        $SCAN \
        --gt $KITTI_ROOT_PATH"/devkit/cpp/data/odometry/poses/$d.txt"\
        --output "$KITTI_RESULTS_PATH/$d"\

docker/jfr2018/run_tum_datasets.sh

@@ -78,12 +78,14 @@ do
        --RGBD/AngularUpdate 0\
        --Rtabmap/DetectionRate $DETECTION_RATE\
        --Kp/FlannRebalancingFactor 1.0\
+       --GFTT/MinDistance 3\
        --Odom/Strategy $STRATEGY\
        --Mem/STMSize 30\
        --Mem/UseOdomFeatures false \
        --Mem/BinDataKept true \
        --Rtabmap/CreateIntermediateNodes false\
        --Vis/CorNNDR 0.6 \
+       --Vis/CorGuessWinSize 20 \
        $F2F_params\
        --OdomORBSLAM2/VocPath /root/ORBvoc.txt\
        --OdomFovis/MinFeaturesForEstimate 10\

guilib/include/rtabmap/gui/MainWindow.h

@@ -175,13 +175,11 @@ protected Q_SLOTS:
 	void selectK4A();
 	void selectRealSense();
 	void selectRealSense2();
-	void selectRealSense2i();
 	void selectRealSense2L515();
 	void selectRealSense2Stereo();
 	void selectStereoDC1394();
 	void selectStereoFlyCapture2();
 	void selectStereoZed();
-	void selectStereoZedi();
 	void selectStereoTara();
 	void selectStereoUsb();
 	void selectMyntEyeS();

guilib/src/MainWindow.cpp

@@ -436,12 +436,10 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
 	connect(_ui->actionRealSense_ZR300, SIGNAL(triggered()), this, SLOT(selectRealSense()));
 	connect(_ui->actionRealSense2_SR300, SIGNAL(triggered()), this, SLOT(selectRealSense2()));
 	connect(_ui->actionRealSense2_D400, SIGNAL(triggered()), this, SLOT(selectRealSense2()));
-	connect(_ui->actionRealSense2_IMU, SIGNAL(triggered()), this, SLOT(selectRealSense2i()));
 	connect(_ui->actionRealSense2_L515, SIGNAL(triggered()), this, SLOT(selectRealSense2L515()));
 	connect(_ui->actionStereoDC1394, SIGNAL(triggered()), this, SLOT(selectStereoDC1394()));
 	connect(_ui->actionStereoFlyCapture2, SIGNAL(triggered()), this, SLOT(selectStereoFlyCapture2()));
 	connect(_ui->actionStereoZed, SIGNAL(triggered()), this, SLOT(selectStereoZed()));
-	connect(_ui->actionZed_sdk_IMU, SIGNAL(triggered()), this, SLOT(selectStereoZedi()));
     connect(_ui->actionStereoTara, SIGNAL(triggered()), this, SLOT(selectStereoTara()));
 	connect(_ui->actionStereoUsb, SIGNAL(triggered()), this, SLOT(selectStereoUsb()));
 	connect(_ui->actionRealSense2_T265, SIGNAL(triggered()), this, SLOT(selectRealSense2Stereo()));
@@ -459,13 +457,11 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
 	_ui->actionRealSense_ZR300->setEnabled(CameraRealSense::available());
 	_ui->actionRealSense2_SR300->setEnabled(CameraRealSense2::available());
 	_ui->actionRealSense2_D400->setEnabled(CameraRealSense2::available());
-	_ui->actionRealSense2_IMU->setEnabled(CameraRealSense2::available());
 	_ui->actionRealSense2_L515->setEnabled(CameraRealSense2::available());
 	_ui->actionRealSense2_T265->setEnabled(CameraRealSense2::available());
 	_ui->actionStereoDC1394->setEnabled(CameraStereoDC1394::available());
 	_ui->actionStereoFlyCapture2->setEnabled(CameraStereoFlyCapture2::available());
 	_ui->actionStereoZed->setEnabled(CameraStereoZed::available());
-	_ui->actionZed_sdk_IMU->setEnabled(CameraStereoZed::available());
     _ui->actionStereoTara->setEnabled(CameraStereoTara::available());
     _ui->actionMYNT_EYE_S_SDK->setEnabled(CameraMyntEye::available());
 	this->updateSelectSourceMenu();
@@ -4729,17 +4725,15 @@ void MainWindow::updateSelectSourceMenu()
 	_ui->actionOpenNI2_sense->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI2);
 	_ui->actionFreenect2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFreenect2);
 	_ui->actionKinect_for_Windows_SDK_v2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcK4W2);
-	_ui->actionKinect_for_Azure->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcK4W2);
+	_ui->actionKinect_for_Azure->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcK4A);
 	_ui->actionRealSense_R200->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense);
 	_ui->actionRealSense_ZR300->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense);
 	_ui->actionRealSense2_SR300->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense2);
 	_ui->actionRealSense2_D400->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense2);
-	_ui->actionRealSense2_IMU->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense2);
 	_ui->actionRealSense2_L515->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense2);
 	_ui->actionStereoDC1394->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDC1394);
 	_ui->actionStereoFlyCapture2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFlyCapture2);
 	_ui->actionStereoZed->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoZed);
-	_ui->actionZed_sdk_IMU->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoZed);
     _ui->actionStereoTara->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoTara);
 	_ui->actionStereoUsb->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoUsb);
 	_ui->actionRealSense2_T265->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoRealSense2);
@@ -6487,13 +6481,9 @@ void MainWindow::selectRealSense2()
 {
 	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcRealSense2);
 }
-void MainWindow::selectRealSense2i()
-{
-	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcRealSense2, 1);
-}
 void MainWindow::selectRealSense2L515()
 {
-	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcRealSense2, 2);
+	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcRealSense2, 1);
 }
 
 void MainWindow::selectRealSense2Stereo()
@@ -6514,10 +6504,6 @@ void MainWindow::selectStereoZed()
 {
 	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoZed);
 }
-void MainWindow::selectStereoZedi()
-{
-	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoZed, 1);
-}
 
 void MainWindow::selectStereoTara()
 {

guilib/src/PreferencesDialog.cpp

@@ -1978,7 +1978,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->lineEdit_cameraImages_imu_transform->setText("0 0 1 0 -1 0 1 0 0");
 		_ui->spinBox_cameraImages_max_imu_rate->setValue(0);
 
-		_ui->comboBox_imuFilter_strategy->setCurrentIndex(0);
+		_ui->comboBox_imuFilter_strategy->setCurrentIndex(1);
 		_ui->doubleSpinBox_imuFilterMadgwickGain->setValue(Parameters::defaultImuFilterMadgwickGain());
 		_ui->doubleSpinBox_imuFilterMadgwickZeta->setValue(Parameters::defaultImuFilterMadgwickZeta());
 		_ui->doubleSpinBox_imuFilterComplementaryGainAcc->setValue(Parameters::defaultImuFilterComplementaryGainAcc());
@@ -3722,23 +3722,15 @@ void PreferencesDialog::updateParameters(const ParametersMap & parameters, bool
 
 void PreferencesDialog::selectSourceDriver(Src src, int variant)
 {
-	_ui->comboBox_imuFilter_strategy->setCurrentIndex(0);
+	_ui->comboBox_imuFilter_strategy->setCurrentIndex(1);
-	this->setParameter(Parameters::kOptimizerGravitySigma(), "0.0");
+	_3dRenderingRoiRatios[0]->setText("0.0 0.0 0.0 0.0");
+	_3dRenderingRoiRatios[1]->setText("0.0 0.0 0.0 0.0");
 
 	if(src >= kSrcRGBD && src<kSrcStereo)
 	{
 		_ui->comboBox_sourceType->setCurrentIndex(0);
 		_ui->comboBox_cameraRGBD->setCurrentIndex(src - kSrcRGBD);
-		if(src == kSrcFreenect)
+		if(src == kSrcOpenNI_PCL)
-		{
-			if(Optimizer::isAvailable(Optimizer::kTypeG2O) || Optimizer::isAvailable(Optimizer::kTypeGTSAM))
-			{
-				// enable IMU
-				_ui->comboBox_imuFilter_strategy->setCurrentIndex(1);
-				this->setParameter(Parameters::kOptimizerGravitySigma(), "0.3");
-			}
-		}
-		else if(src == kSrcOpenNI_PCL)
 		{
 			_ui->lineEdit_openniOniPath->clear();
 		}
@@ -3749,16 +3741,12 @@ void PreferencesDialog::selectSourceDriver(Src src, int variant)
 		else if (src == kSrcK4A)
 		{
 			_ui->lineEdit_k4a_mkv->clear();
-			if(Optimizer::isAvailable(Optimizer::kTypeG2O) || Optimizer::isAvailable(Optimizer::kTypeGTSAM))
+			_3dRenderingRoiRatios[0]->setText("0.05 0.05 0.05 0.05");
-			{
+			_3dRenderingRoiRatios[1]->setText("0.05 0.05 0.05 0.05");
-				// enable IMU
-				_ui->comboBox_imuFilter_strategy->setCurrentIndex(1);
-				this->setParameter(Parameters::kOptimizerGravitySigma(), "0.3");
-			}
 		}
 		else if (src == kSrcRealSense2)
 		{
-			if(variant > 1) // L515
+			if(variant > 0) // L515
 			{
 				_ui->spinBox_rs2_width->setValue(1280);
 				_ui->spinBox_rs2_height->setValue(720);
@@ -3770,38 +3758,17 @@ void PreferencesDialog::selectSourceDriver(Src src, int variant)
 				_ui->spinBox_rs2_height->setValue(480);
 				_ui->spinBox_rs2_rate->setValue(60);
 			}
-			if(variant>0 && (Optimizer::isAvailable(Optimizer::kTypeG2O) || Optimizer::isAvailable(Optimizer::kTypeGTSAM)))
-			{
-				// enable IMU
-				_ui->comboBox_imuFilter_strategy->setCurrentIndex(1);
-				this->setParameter(Parameters::kOptimizerGravitySigma(), "0.3");
-			}
 		}
 	}
 	else if(src >= kSrcStereo && src<kSrcRGB)
 	{
 		_ui->comboBox_sourceType->setCurrentIndex(1);
 		_ui->comboBox_cameraStereo->setCurrentIndex(src - kSrcStereo);
-		if(Optimizer::isAvailable(Optimizer::kTypeG2O) || Optimizer::isAvailable(Optimizer::kTypeGTSAM))
+
+		if(src == kSrcStereoZed) // Zedm, Zed2
 		{
-			if(src == kSrcStereoZed && variant>0) // Zedm, Zed2
+			// disable IMU filtering (zed sends already quaternion)
-			{
+			_ui->comboBox_imuFilter_strategy->setCurrentIndex(0);
-				// enable IMU (zed sends already quaternion)
-				_ui->comboBox_imuFilter_strategy->setCurrentIndex(0);
-				this->setParameter(Parameters::kOptimizerGravitySigma(), "0.3");
-			}
-			else if(src == kSrcStereoRealSense2) // T265
-			{
-				// enable IMU
-				_ui->comboBox_imuFilter_strategy->setCurrentIndex(1);
-				this->setParameter(Parameters::kOptimizerGravitySigma(), "0.3");
-			}
-			else if(src == kSrcStereoMyntEye)
-			{
-				// enable IMU
-				_ui->comboBox_imuFilter_strategy->setCurrentIndex(1);
-				this->setParameter(Parameters::kOptimizerGravitySigma(), "0.3");
-			}
 		}
 	}
 	else if(src >= kSrcRGB && src<kSrcDatabase)

guilib/src/ui/mainWindow.ui

@@ -207,7 +207,6 @@
          <normaloff>:/images/d435.png</normaloff>:/images/d435.png</iconset>
        </property>
        <addaction name="actionRealSense2_D400"/>
-       <addaction name="actionRealSense2_IMU"/>
       </widget>
       <widget class="QMenu" name="menuRealSense_SR300">
        <property name="title">
@@ -268,7 +267,6 @@
          <normaloff>:/images/zed.png</normaloff>:/images/zed.png</iconset>
        </property>
        <addaction name="actionStereoZed"/>
-       <addaction name="actionZed_sdk_IMU"/>
        <addaction name="actionStereoUsb"/>
       </widget>
       <widget class="QMenu" name="menuTara_Camera">
@@ -1619,22 +1617,6 @@
     <string>RealSense2</string>
    </property>
   </action>
-  <action name="actionZed_sdk_IMU">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>Zed sdk (Zedm, Zed2)</string>
-   </property>
-  </action>
-  <action name="actionRealSense2_IMU">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>RealSense2 (D435i)</string>
-   </property>
-  </action>
  </widget>
  <customwidgets>
   <customwidget>

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>rtabmap</name>
-  <version>0.20.7</version>
+  <version>0.20.8</version>
   <description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>