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1083 Commits

Author SHA1 Message Date
matlabbe
0a4d0038cb Preferences dialog: fixed missing Vis/CorCrossCheck checkbox 2020-05-02 11:03:17 -04:00
matlabbe
d14efea4ac Added Vis/CorCrossCheck parameter (to use BFMatcher with crosscheck option instead of knn with NNDR for features matching). DBViewer: after refine or add constraint, lines indicating feature correspondences are now shown with different color if they are inliers. Re-enabled saving/loading settings of the ImageViews (feature color, line color, transparency...). 2020-05-01 22:12:56 -04:00
matlabbe
5d16ae8cfe DBViewer: fixed calibration not found on refining without re-extracting features, fixed visualized ids switched on refine in some cases, fixed clouds not shown in constraints view after refine without re-extracting features 2020-04-30 14:17:46 -04:00
matlabbe
ace93b0356 GUI: check mynteye when selected 2020-04-30 01:00:17 -04:00
matlabbe
14ec619b1e Added MYNT EYE S support. Fixed StereoCameraModel rectification not done with non-square images, also updated to support fisheye model. 2020-04-30 00:57:47 -04:00
matlabbe
31e5f7804e DbViewer: set horizontal layout by default 2020-04-23 15:27:31 -04:00
matlabbe
00d8375a2e RGBD/SavedLocalizationIgnored: if true, it is now starting at the origin (0,0,0) instead of null (not linked to graph). 2020-04-23 11:57:01 -04:00
matlabbe
35074f6d9f DBViewer: fixed missing parameter groups in Core Parameters. MainWindow: disabled frames by default. 2020-04-22 18:30:42 -04:00
matlabbe
94360e19e0 DBReader: changed maxFrames option to stopId and startIndex to startId. Reprocess: added options to start and stop at specific ids in the database. 2020-04-22 16:20:29 -04:00
matlabbe
012439aa0b Tango refactoring (#534) 
* Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving).

* Working android app on non-tango android phones (tested on x86_64 android emulator).

* fixed typo

* android: updated tango not available msg

* android: fixed build with latest android sdk/ndk

* Added ARCore limited support for pose and rgb streams.

* Added AREngine support. Don't assert if depth size is not a modulo of rgb size.

* Added ARCore shared camera support

* android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue)

* ARCore NDK: mapping with feature point cloud

* android: Added post build strip command to reduce native library size

* android: fixed some compilation issues

* android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters

* AREngine: min api 24

* android: Fixed build without AREngine

* android: fixed not available libraries for API<24

* android: fixed build with old cmake versions

* android: set arcore min api to 23

* android: fixed arengine error on start when not built with native arengine support

* android: fixed tango camera permission for api>=23

* Added bionic android docker files

* Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size

* CameraMobile: added exact display rotation for local transform

* DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label

* Android: fixed localization mode in visualization, fixed some tansitions between some UI states

* Android: Hide stop button when HUD is hidden. Updated About years.
 2020-04-22 15:05:07 -04:00
matlabbe
7cfc51315d CMake: find octomap instead of OCTOMAP #529 2020-04-18 16:03:09 -04:00
matlabbe
de4b17332d Preferences: fixed some not clickable external links 2020-04-17 16:06:56 -04:00
matlabbe
f575652456 0.19.7: added SuperPoint Torch feature support. RegVis: keep Feature2D detectors as class members instead of recreating them at each registration. 2020-04-16 17:59:45 -04:00
matlabbe
2ff582f06f DbViewer: fixed refineConstraints to make sure from id is the smallest id. Fixed correspondence lines drawn when images don't have the same size. 2020-04-15 14:54:36 -04:00
matlabbe
de354b901d RegInfo: added icpStructuralDistribution info 2020-04-14 17:06:53 -04:00
matlabbe
607dc67135 IMU: removing yaw from local imu transform when creating gravity links 2020-04-10 19:24:45 -04:00
matlabbe
d6269bb5d6 GUI: changed TF link colors from yellow to orange (as yellow already used for gravity) 2020-04-10 13:40:59 -04:00
matlabbe
c0313a6d09 GUI/Source: color only option now also available for stereo cameras (meaning only left frame published). Db: fixed non-valid 3d words saved when no ones were in the signature (on loading, we don't set words3 if they are all null). 2020-04-08 20:00:41 -04:00
matlabbe
82a19a2ff1 DbViewer: Updated add constraint order (from=old, to=newer) 2020-04-08 18:52:38 -04:00
matlabbe
cdff33b1c2 Added Mem/LocalizationDataSaved parameter 2020-04-05 19:21:20 -04:00
matlabbe
b3f7d1881f GUI: added options to hide map/odom frames and yellow TF links. CloudViewer: added option to show/hide camera axis 2020-04-03 20:04:15 -04:00
matlabbe
b95195d8bb CameraRealSense2: added json preset file option (#513) 2020-04-01 12:25:28 -04:00
matlabbe
dcc15f7555 MainWindow: added TG_error_lin and TG_error_ang stats for odometry (error of actual odometry transform compared to ground truth) 2020-03-31 11:52:27 -04:00
matlabbe
0eb978cb0b RegInfo: fixed copy without data. 2020-03-28 18:48:51 -04:00
matlabbe
451211cfb1 OdomInfo: added icpCorrespondences. Stats: using norm instead of x for distance/speed. Added odometry speed statistic in mph 2020-03-28 17:07:22 -04:00
matlabbe
d201e25006 CloudViewer: Fixed normals_scale=0 2020-03-12 16:41:52 -04:00
matlabbe
bfc64c451a MainWindow: added /map and /odom coordinate frames 2020-03-10 10:30:42 -04:00
matlabbe
cb80d85dd6 DbViewer: removed graph optimization from latest optimized poses (see http://official-rtab-map-forum.67519.x6.nabble.com/Database-Post-Processing-Save-refined-links-td6504.html) 2020-03-01 16:59:46 -05:00
matlabbe
67f1ce600f ament f7deefb31d for OpencV >=3.4.4 2020-02-29 15:22:14 -05:00
matlabbe
80bee99bfc ExportDialog: show (disabled) multi-band option even if not available for viewing (only for exporting) 2020-02-22 18:16:45 -05:00
matlabbe
882f2010ce MainWindow/rtabmapviz: Ignore Odometry stats included in rtabmap's Statistics object (to avoid plot reset when also receiving those from odom info) 2020-02-21 16:16:36 -05:00
matlabbe
e7a7ab8031 CloudViewer: added scan red colormap and max intensity options 2020-02-20 15:33:50 -05:00
matlabbe
5c197f176e DBViewer: fixed Yes vs YesToAll after editing 2d occupancy grid 2020-02-13 17:43:47 -05:00
matlabbe
5fef44ec2b DBViewer: Added option to crop empty space from local grid and scans after 2d occupancy grid is manually edited 2020-02-13 17:32:39 -05:00
matlabbe
c9f21e7ebf fixed #498 2020-02-05 20:01:02 -05:00
matlabbe
f7deefb31d Fixed compilation with OpenCV 4.2 #502 (see ad146e5a6b and https://github.com/opencv/opencv/pull/16046) 2020-02-05 11:52:31 -05:00
matlabbe
e2e2227895 ZED: Fixed compilation error with ZED SDK3 (#499). Added textureness confidence thr parameter (default 90, working only with ZED SDK3) 2020-02-03 17:59:07 -05:00
matlabbe
f7540196d4 Fixed many compilation warnings (c++14, like pedantic warnings) 2020-01-30 17:23:02 -05:00
matlabbe
ccc5a5be5a OctoMap::createCloud() added cloud probability output option. 
CameraRealSense2: added new warnings to debug easier timestamps problems.
GUI: added gravity visualization.
DbViewer: empty clouds in OctoMap mode have color depending on probability of occupancy.
Brought general changes from local xvision branch.
 2020-01-22 10:34:21 -05:00
matlabbe
af9e113112 Gui: added missing OdomF2M/ScanRange parameter 2019-12-11 17:17:29 -05:00
matlabbe
57a27a5d17 MainWindow: added virtual functions for convenience 2019-12-10 18:48:54 -05:00
matlabbe
edee5acdbf DBViewer: we can now add new links between disconnected maps using only lidar. Export: convert intensity to grayscale when exporting colored mesh. 2019-11-23 17:58:40 -05:00
matlabbe
179f17d267 0.19.6: Added auto brightness/contrast and texture format options to multiband approach. rtabmap-export moved from examples to tools directory. 2019-11-03 14:10:02 -05:00
matlabbe
2afa76c07c AliceVision integration, see util3d::multiBandTexturing() 2019-10-28 21:16:02 -04:00
matlabbe
6435c74bfe DBViewer: Added "Edit Constraint" button 2019-10-18 12:22:51 -04:00
matlabbe
981ac69c2c Zed-mini: added imu thread to publish async imu events at 200 Hz (to support VINS odometry). 2019-10-13 17:40:09 -04:00
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
3fd5cdfb75 DbViewer/detect more loop closures: removed a messagebox when silent and icp-only is used 2019-09-26 12:29:11 -04:00
matlabbe
547da3f3ce CloudViewer: showing intensity as grayscale instead of generic color handler 2019-09-24 18:18:49 -04:00