matlabbe
99275fba1d
Added Daisy descriptor. ORB: updated default parameters. Making ORBOctree using ORB parameters. Updated Vis/CorNNDR default from 0.6 to 0.8 (increase number of matches with binary descriptors, increase slightly feature matching time with float descriptors). Note that jfr2018 scripts have been updated to use old value 0.6. rtabmap-info: show descriptor dimension and type.
2020-11-01 11:28:59 -05:00
matlabbe
72e1649cdd
DataRecorder: added imu filtering by default
2020-10-22 18:02:24 -04:00
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
bbccbd63e4
Increased version to 0.20.5
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Refactored how features are stored in Signature (significative memory optimization, causing major refactoring in Memory, RegistrationVis, OdometryF2M)
FLANN: optimized memory usage when Kp/IncrementalFlann is false
Added memory usage functions
Added statistics Loop/Visual_inliers_ratio/ and Memory/RAM_estimated/MB
EpipolarGeometry: templated findPairs functions
graph::filterLinks: added inverted option
LocalBundleOnLoopClosure: Force to use only neighbor links
MainWindow: fixed max depth filtering for map's features
Rtabmap::getSignatureCopy() fixed links not returned
Added UPlot::getAllCurveDataAsText() function.
DbViewer: fixed features not rendered in right view when failing ro refine a constraint
report: added --export and --export_prefix options (to export figures data)
2020-10-05 17:34:32 -04:00
matlabbe
933ac736f1
Increased version 0.20.4. Added parameter Kp/ByteToFloat (default true to use less memory with kdtree and binary descriptors). Memory/Sqlite3: Setting weight to -9 for invalid nodes (to make sure they are not reloaded from database, to fix a graph reduced issue). Added 12-SURF/FREAK detector approach. rtabmap-info: added number of nodes in each sessions.
2020-09-28 10:29:14 -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
29368ebdb3
report: fixed database order in localization results
2020-09-15 14:06:23 -04:00
matlabbe
a689d8a23f
report: fixed how localization stats are split against localization sessions only
2020-09-10 14:09:27 -04:00
matlabbe
1db17dd118
rtabmap-report: added loc_delay option. Db info: added unused space
2020-09-03 15:23:48 -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
e800662bac
Fixed build with OpenCV >= 3.4.11
2020-07-02 16:29:23 -04:00
matlabbe
0809946c66
Windows: Fixed stereoRectifyFisheye.h 'cannot convert from cv::Mat to CvMat' compilation error with opencv >=3.4.4. Fixed k4a/k4atypes.h not found on guilib compilation.
2020-06-30 23:18:31 -04:00
matlabbe
13679cc52a
Export tool: fixed generated texture output directory
2020-06-09 12:58:55 -04:00
matlabbe
4769fc235f
Refactoring: set default local transform for camera drivers to opticalRotation. Added CameraModel::opticalRtotation() static function for convenience. Added CameraModel::load() from file directly for convenience. Added Camera::initFromFile() for convenience. Transform: Added opengl_T_rtabmap() and opengl_T_rtabmap() functions for convenience (convert back and forth between rtabmap world and opengl world coordinate frames)
2020-06-08 11:40:47 -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
86ac63ab19
UPlot: changed float to qreal (double). Added UPlot::frameData() function.
2020-06-07 11:55:27 -04:00
matlabbe
7eae992d6f
rtabmap-report: fixed map.at() error if the database as empty statistics
2020-05-28 21:21:31 -04:00
matlabbe
69a2aacc8e
Parameters: added SIFT/RootSIFT parameter.
2020-05-21 17:09:20 -04:00
Thomas Kircher
013bd0c72a
K4A device, fixed some stale edits ( #553 )
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* Added Kinect for Azure menu option
* Reintegrated Kinect for Azure initialization code, fixed previous GUI commit
* Added ifdefs to fix build
* Added preliminary K4A device support
* Edits to K4A camera implementation
* K4A minor initialization fix
* Typo
* Another initialization fix
* Update CameraRGBD tool to display K4A camera output
2020-05-20 19:36:15 -04:00
matlabbe
360a153565
Parameters: Renamed SuperGlue group to PyMatcher group. Added OANet python script.
2020-05-20 09:45:39 -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
55509c6c27
Fixed build with OpencV 2.4 and Qt4
2020-05-13 15:15:52 -04:00
matlabbe
d2673ed2fa
Added GMS matching approach (Vis/CorNNType=7). Added GMS/ parameters. Added SuperGlue/Indoor parameter. ImageView: updating feature and line colors directly when changing color (option menu), fixed items already added to scene warning when switching to GraphicsView.
2020-05-11 13:23:26 -04:00
matlabbe
cc9fd439fe
SuperPoint: updated descriptor normalization process to match exactly the implementation in SuperGlue. generateWords3DMono: use variance at 25% instead of 50% of the sqrd variance vector (to do the same than with PnP), also fixed return camera transform to include local transform of the camera model. rtabmap-matcher: updated default parameters when no depth images are used, added reproj error in title bar.
2020-05-10 14:13:41 -04:00
matlabbe
c44837a4cb
Fixed build without SuperGlue
2020-05-09 21:41:38 -04:00
matlabbe
91285e5e97
Added SuperGlue support (Vis/CorNNType=6). Added rtabmap-matcher tool. DBViewer: show matches/inliers when refine also fails. SIFT: make sift always available on OpenCV 4.3.0 ( #538 ). Parameters: changed SPTorch prefix to SuperPoint, replaced Vis/CorCrossCheck by Vis/CorNNType=5.
2020-05-09 21:13:41 -04:00
matlabbe
1af139134e
Deprecated Rtabmap::get3DMap(), use Rtabmap::getGraph() instead with setting to true the data flags. Rtabmap::getGraph() now ignores children nodes.
2020-05-06 08:04:58 -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
40804d9120
Statistics: added x,y,z map corrections. Report: added options --stats to show available statistics to plot in a database
2020-04-30 15:48:47 -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
66fca15cc6
Added rtabmap-info console tool
2020-04-24 13:45:41 -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
1b4b1c2832
Report: add compilation when qt is not used
2020-04-09 11:00:42 -04:00
matlabbe
b7bed0d1a5
Report: ignore total slam time on intermediate nodes
2020-03-12 14:12:00 -04:00
matlabbe
dceec711e0
report: added --loop option to compute loop closure errors
2020-03-01 14:11:37 -05:00
shovington
d0f84f9460
add option to create a report.csv file in /tools/Report ( #512 )
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Co-authored-by: John <john.bobzwik@gmail.com >
2020-02-27 16:28:02 -05:00
matlabbe
2d7ab7bdef
Report: support Odometry/TimeEstimation/ms from ros
2019-12-11 11:33:19 -05:00
matlabbe
1d7dee8976
kitti-tool: fixed no scan bug when using velodyne odom
2019-12-10 18:39:39 -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
d360420204
report tool: exporting poses in RGB-D dataset format by default, also exporting odom, slam and gt poses.
2019-09-29 19:38:54 -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
4c8af6d6e9
fix build errors with opencv2, added Transform::getClosestTransform() function for convenience.
2019-05-31 16:51:37 -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
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
