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51 Commits

Author SHA1 Message Date
matlabbe
700704bec9 LiDAR capture support in standalone library (#1264) 
* Working rtabmap_lidar-mapping example (live and pcap)

* finalizing merge, added some deprecated

* fixed build

* Working deskewing for Lidar + Camera/IMU (no camera pose correction yet) and Lidar + Odom Sensor in main UI.

* backward compatibility

* fixed some not used variable warnings, fixed qt build for lidar mapping example

* Refactored CameraMobile, added AREngine background support, fixed LidarVPL16 build error with PCL 1.8

* ARCoreJava: buffer last depth image in case its stamp i higher than pose stamp. CameraMobile: added pose buffer. SensorCaptureThread: to get pose, odomSensor should be explicitly set, but can be same as lidar or camera  inputs.

* Working external lidar on iOS

* util3d::commonFiltering()/adjustNormalsToViewPoint() added organized cloud support. MainWindow: updated odomSensor setup

* fixed winsock include order

* reverted camera tool

* disable imu filtering when odom sensor is used

* Updated package version

* fixed windows build

* fixing more windows build erros
 2024-04-14 19:06:04 -07:00
matlabbe
71415992ac GridMap integration (#1180) 
* GridMap integration

* Removed GridGlobal/FullUpdate parameter. Bump version 0.21.3. Mvoed specialized global map classes under global_map sub dir. Renamed Map -> GlobalMap.

* UI: Added elevation map visualization

* Added LocalGridCache class to share cache between global maps

* Fixed OctoMap nans. DbViewer: Added frontiers visualization.

* convenient functions for ros

* Small fix

* fixed build without GridMap

* CI disabled fail-fast

* CI updated checkout action to v4
 2023-12-17 22:44:11 -08:00
matlabbe
89e3e10d89 Refactoring RTABMapConfig.cmake with targets (#904) 
* Config: Using cmake targets

* fixed RTABMAP_DEPRECATED build error

* fixed melodic build

* cleanup

* Fixed qhull exported library error

* Update svg depend private

* removed g2o from public interface

* Fixed Windows with external project

* removed some required dep

* Fixed nsis error (also fixed unspecified components)

* updated workflow rules
 2023-02-12 16:18:01 -08:00
matlabbe
437ed09335 DBReader: added ignore priors option (added to gui and reprocess), Statistics: added info about distance/angle of the localization, RegVis: fixed inliers mean distance on multicam setup, About: added MRPT info 2023-02-10 17:29:10 -08:00
matlabbe
22fede9335 Reprocess: added --odom option to recompute odometry. 2023-01-15 15:07:24 -08:00
matlabbe
8d301afe6c reprocess: added --default option 2023-01-08 16:29:44 -08:00
matlabbe
d59a306ae3 Export: fixed depth image wrongly set for stereo data 2022-11-10 17:18:57 -08:00
matlabbe
bdfab4e0be reprocess: added "-a" option (append mode) 2022-11-02 15:06:13 -07:00
matlabbe
a8cdf1f940 reprocess: disable Mem/UseOdomFeatures by default when there are more than 1 input database 2022-10-24 10:34:37 -07:00
matlabbe
fdb78d33b0 DBViewer: added optimzed and prior poses in node details. Reprocess: add start_s, stop_s and pub_loops options. 2022-10-12 13:05:01 -07:00
matlabbe
749cd096ff Fixed map::at() seg fault when localizing on a database with multiple disjoint sessions 2022-09-13 06:19:23 +00:00
matlabbe
1857111d7d Reprocess: added option to stream only one camera (in case of multi-camera database) 2022-04-06 14:07:23 -04:00
matlabbe
dbecaac809 Moved bin dir inside build directory (#784) 
* Moved bin directory inside build directory (to make easier different builds with same source directory)

* Switched include order to avoid problems with remaining Version.h still in source directory taen before the one in binary dir. Fixed android build (updated res tool search path).

* workflow-cmake: fixed path to bin directory
 2021-11-14 19:29:37 -05:00
matlabbe
4ba805b5b3 Report: fixed landmarks not used during optimization. Reprocess: added --nolandmark option to ignore landmarks in input database. 2021-11-12 12:47:54 -05:00
matlabbe
8682026396 Rtabmap: when optimizing graph, removed guess for rootid to avoid global rotation drift over time. CameraStereoImages: set BayerMode also to right image. GraphView: fixed 0 width for line inside NodeItem. Reprocess: added -loc_null and -gt options. 2021-10-23 11:17:42 -04:00
matlabbe
a901f20d06 0.20.14: added globalBundleAdjustment CLI, added Rtabmap/Memory::cleanupLocalGrids function, init with optimizedPoses from db even in mapping mode, reprocess: added -db option to save optimized 2d grid in database. 2021-09-11 11:35:43 -04:00
matlabbe
5167927d01 report: added --ignore_inter_nodes option. CloudViewer: set max absolute scan intensity to 100 (was 0=auto). reprocess/replay db: ignore intermediate nodes if Rtabmap/CreateIntermediateNodes is false. 2021-06-21 17:23:53 -04:00
matlabbe
d002711f21 reprocess tool: Updated usage description to upgrade db version 2021-03-27 16:21:52 -04:00
matlabbe
3131474102 Added Db/TargetVersion parameter (#652) 2020-12-03 15:45:40 -05:00
matlabbe
32eb266c79 fixed CMP0020 cmake warning 2020-10-09 11:10:21 -04:00
matlabbe
2cb509c825 DbViewer: manual constraints can now be added (http://official-rtab-map-forum.67519.x6.nabble.com/Manually-adding-modifying-node-constraints-td6983.html) 2020-10-07 15:41:13 -04:00
matlabbe
eef0a23b1b Reprocess: added --skip option (to skip frames when reprocessing). Rtabmap: always save Loop/Map_id/ stat. UPlot: export NaN insted of NA for invalid values (compatible with octave). GraphViewer and ImageView: added support for PDF output format, also changed default directory to User's Pictures standard folder. 2020-09-21 19:32:48 -04:00
matlabbe
23d8353540 Rtabmap::detectMoreLoopClosures, use optimized graph as guess if RGBD/ProximityOdomGuess is true. Reprocess: added options to generate scan from depth image and/or pre-process input scans. 2020-08-28 16:24:07 -04:00
matlabbe
96a628877c reprocess: when merging databases, return number of sessions merged when program exists. export: added --save_in_db option. 2020-08-28 12:29:16 -04:00
matlabbe
4e32e8846c fixed build error 2020-07-08 21:34:41 -04:00
matlabbe
6468245317 Reprocess: added loc stats in motion, added option to export odom and loc poses in g2o format 2020-07-08 21:25:14 -04:00
matlabbe
3505611fb5 reprocess: set Mem/UseOdomFeatures to false if Kp/DetectorStrategy or Vis/FeatureType is overwritten (#566) 2020-07-06 13:31:01 -04:00
matlabbe
6029b6283d Rtabmap: Refactored how fake odom is generated in localization mode when no odom is provided. Trigger new map in localization mode also clears last localization pose if RGBD/SavedLocalizationIgnored is true. 2020-06-08 10:14:21 -04:00
matlabbe
c7b84c60bc Parameters: added Mem/StereoFromMotion (default false) and RGBD/ProximityOdomGuess (default false). Visual proximity detection is done before computing the loop closure transform (the later is ignored if visual proximity succeeded with a node close to loop closure, add Loop/Suppressed_hypothesis_id statistics to know when this happens). Changed Loop/Map_correction to Loop/Odom_correction (to better see the actual jumps of localization about /base_link frame, not /odom frame). util3d::generateWords3DMono() is now using openCV's implementation of five-point algorithm (this fixed some cases for which the older approach couldn't find any solution). UPlot: added scrolling area on the legend, added global legend option to show all curve statistics (mean, stddev,max). MainWindow's open dialog: reopen last directory when reopening a different database. ParametersToolBox: show default parameter value in tooltip. rtabmap-report: add --start option. rtabmap-reprocess: show details about proximity and loop detections, reset all localization statistics after changing database. 2020-05-19 15:01:50 -04:00
matlabbe
46886f2637 Report: added invert and ids options. Reprocess: show node id along map id when processing. 2020-04-30 17:00:09 -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
7cfc51315d CMake: find octomap instead of OCTOMAP #529 2020-04-18 16:03:09 -04:00
matlabbe
630b565cd4 reprocess: added double dash support for arguments for convenience. Rtabmap: fixed typo in localization verification by odom graph optimization. 2019-04-29 17:11:29 -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
38cdc76790 reprocess: added more localization info 2019-04-17 14:57:15 -04:00
matlabbe
fc9c762516 Added Optimizer/GravitySigma parameter (with GTSAM support). 2019-03-31 15:51:50 -04:00
matlabbe
09ced82c9f Rtabmap::triggerNewMap() now does nothing in localization mode to make sure optimized map doesn't get regenerated 2019-03-27 20:48:00 -04:00
matlabbe
8333677dc6 Improved/optimized Rtabmap timing performance for large datasets 2018-11-09 17:28:55 -05:00
matlabbe
69f3116158 Updated reprocess 2018-10-30 10:40:35 -04:00
matlabbe
e57b722ce2 Reprocess: if Mem/IncrementalMemory is false and more than one input file is provided, init rtabmap with the first and do localization with the others. 2018-10-29 17:00:42 -04:00
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
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
7fdd212462 rtabmap-reprocess supports multiple input databases. Arguments "--params map.db" output parameters of the database in INI format 2018-10-12 15:53:44 -04:00
matlabbe
4969ece356 0.16.3: Added OKVIS support (tested only on EuRoC dataset). Added IMU/IMUThread classes. Added OdomOKVIS/ConfigPath and Rtabmap/ImagesAlreadyRectified parameters. MainWindow, limited odom local feature map to maximum 50 meters from current pose (to avoid VTK glitching with near/far clipping plane). 2018-03-07 19:43:30 -05:00
matlabbe
db1139e89e Gui: fixed default color for scans from odom in MainWindow and constraint view in dbviewer. Recovery/reprocess: fixed triggering new map on covariance >=9999. Reg: repeatOnce not done if it has a child. Statistics: added time proximity by space visual info. 2018-02-20 17:33:48 -05:00
matlabbe
37cbf79b4c DbViewer: fixed occupancy grid color options. Reprocess: added grid total time including rtabmap stats 2018-02-18 21:32:19 -05:00
matlabbe
02a64a7fa3 Added ctrl-c handling to reprocess and recovery tools. 2018-02-13 16:54:31 -05:00
matlabbe
fced2c521c 0.16.0: Database updated with Data.empty_cells, Admin.opt_map, Admin.opt_map_x_min and Admin.opt_map_y_min fields. Changed Parameter Grid/ProjRayTracing to Grid/RayTracing (OctoMap ray tracing done for 3D local grids). Improved OctoMap performance. 2018-02-08 21:40:17 -05:00
matlabbe
42199eefd2 Added --poses option to report tool. Reprocess tool: Export ground/obstacles when 3d map is created. 2018-02-06 11:31:39 -05:00
matlabbe
8ca3bca810 Fixed build error in rtabmap-reprocess without octomap. Fixed non c++11 build for BayesFilter. 2018-02-02 13:12:14 -05:00