i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-08 12:30:20 +08:00
Code Issues Packages Projects Releases Wiki Activity
2,598 Commits 30 Branches 163 Tags
1acf8ff193fad9b37f7906586065f109f7d12d61
Commit Graph
100 Commits
This Branch
This Branch
All Branches
Author SHA1 Message Date
matlabbe 1acf8ff193 RegIcp: don't assert if normals cannot be computed properly before doing complexity check, just reject the transform 2020-12-12 16:53:07 -05:00
matlabbe 51826c9a97 RegIcp: fixed KDTreeMatcherIntensity build error on Mac. 2020-12-11 17:22:29 -05:00
matlabbe 7a5d04062d vtk8: disabled vtkOutputWindow 2020-12-11 17:05:37 -05:00
matlabbe 049238dd59 Gui: added L515 icon 2020-12-11 09:56:17 -05:00
matlabbe da8e76ffed rtabmap-matcher: added --calibration_to option (to use a different calibration file for the second image). 2020-12-05 13:21:58 -05:00
matlabbe 3131474102 Added Db/TargetVersion parameter (#652) 2020-12-03 15:45:40 -05:00
matlabbe 3ffc8ce73f DBViewer: enabled Reject button on landmark links 2020-11-30 23:17:47 -05:00
matlabbe ee44adeb1f fixed #648 (build error without OctoMap dependency) 2020-11-30 12:33:08 -05:00
matlabbe 96c1c81e22 fixed build with older libpointmatcher versions <10300 2020-11-29 19:30:30 -05:00
matlabbe 0022b6b993 ExportCloudsDialog: added colormap option when showing scans 2020-11-28 18:02:54 -05:00
matlabbe 721e046f5d fixed build 2020-11-28 17:36:42 -05:00
matlabbe d733029565 Increased version to 0.20.7. OdometryF2M: added support for intensity field, removed ignored key frames when there is low scan complexity. RegistrationIcp: added Icp/PMMatcherIntensity, Icp/PointToPlaneGroundNormalsUp and Icp/PointToPlaneLowComplexityStrategy parameters. Rtabmap: when graph optimized from end, increased optimization error before warning that resulting map correction is not identity (this could happen with GTSAM as the root is not perfectly fixed). CloudViewer: added coordinate frame scaling option, added rainbow colormap option for scan intensity. DBViewer: fixed local proximity merged scans not shown modified after refining those links, show intensity, fixed constraints view not updated after rejecting a link. MainWindow: added intesity support with odometry scans. 2020-11-28 17:28:34 -05:00
matlabbe 7859313beb AppVeyor: updated realsense2 sdk to 2.40. CameraRealSense2: When GlobalTimeSync option is off, don't wait 35 ms for imu (and fails), just take the latest one directly (https://github.com/introlab/rtabmap/issues/614#issuecomment-732244439). 2020-11-23 11:36:27 -05:00
matlabbe 80199f23b5 RegIcp: complexity, checking if second eigen value is also under Icp/PointToPlaneMinComplexity to limit to only one axis. DbViewer: fixed refine link with scans having RGB channel. 2020-11-22 19:32:01 -05:00
matlabbe bce7ae6acd Fixed GTSAM reference frame yaw drift over time when gravity links are used 2020-11-22 16:40:30 -05:00
matlabbe f88845e138 fixed #643 2020-11-22 14:29:05 -05:00
matlabbe bdc7be40b4 Fix for previous commit https://github.com/introlab/rtabmap/commit/e4cb59b74d69887fd67700420d408db5a6850663 (otherwise imu are ignored if globalTimeSync is off) 2020-11-22 12:38:21 -05:00
matlabbe e4cb59b74d Added suggestion from https://github.com/introlab/rtabmap/issues/614#issuecomment-731769818 2020-11-22 12:32:39 -05:00
matlabbe dab407e5b9 fixed https://github.com/introlab/rtabmap/commit/ad44b65a28c0bb16add80a3d0afb9c721f84ba68#commitcomment-44427459 2020-11-22 11:10:35 -05:00
matlabbe 98a499b603 Optimizer: fall back on g2o or gtsam first if one or the other is not available (instead of going TORO). ExportClouds: added ceiling and floor filtering options. 2020-11-22 01:23:08 -05:00
matlabbe f5d7dc2814 PreferencesDialog: Added Marker/MaxRange and Marker/MinRange parameters to UI. 2020-11-21 17:23:41 -05:00
matlabbe ab1aa5578a Fixed build 2020-11-21 17:12:09 -05:00
matlabbe ccbdb586da DbViewer: Added datbabase path to window title 2020-11-21 16:37:40 -05:00
matlabbe 7c4d2bbdf4 DbViewer: before resetting all changes, added a confirmation message box! 2020-11-21 16:15:27 -05:00
matlabbe fb206b4f1e DbViewer: fixed scan disappearing after editing constraint 2020-11-21 14:35:29 -05:00
matlabbe ddecefbb9c 💄 2020-11-21 12:34:17 -05:00
matlabbe ad44b65a28 Allow partial support for AliceVision v2.3.0 (see #564 for remaining issues) 2020-11-20 13:42:56 -05:00
matlabbe fdaaa6ccfa Fixed bug L500 gyro/acc not detected (#629) 2020-11-19 13:49:10 -05:00
matlabbe 34e1af7e22 RealSense2: added error message for L515 if resolution is not 640x480 30 fps (#629) 2020-11-19 10:38:15 -05:00
matlabbe 54e2688a1d Fixed build with pcl > 1.11.1 (#641) 2020-11-14 16:52:01 -05:00
matlabbe f9abcf9e35 fixed opencv2 build 2020-11-14 14:41:37 -05:00
matlabbe 01eb57f293 CameraImages: added configForEachFrame option (added to GUI too). CameraThread: for decimation, if depth is smaller than RGB, RGB is decimated first and if the resulting RGB image is smaller than the original depth, we then decimate the depth. 2020-11-14 13:39:12 -05:00
matlabbe 7be22d1b67 Added check to make sure input odometry poses are invertible. Source/DB: added stereo to depth option. 2020-11-06 21:37:59 -05:00
matlabbe 4b527f9c36 Update .appveyor.yml 2020-11-06 18:56:32 -05:00
matlabbe 4d965c2089 Update .appveyor.yml 2020-11-06 18:18:06 -05:00
matlabbe 47cbd633c3 Update .appveyor.yml 2020-11-06 18:11:29 -05:00
matlabbe b95537a680 Added c++11 definition when latest libpointmatcher is found 2020-11-06 16:37:29 -05:00
matlabbe e102243f0e Fixed weight=-8 bug when moving rehearsed node to trash 2020-11-06 14:47:10 -05:00
matlabbe e7a2f206a0 Gui: fixed warning scan not found when uncompressing data. Don't disable Mem/UseOdomFeatures checkbox anymore in monitoring mode (ROS). 2020-11-05 15:50:05 -05:00
matlabbe d04b1a13be multiband: add multi-camera support. rtabmap-export: updated options (now supporting creating point cloud from scans). 2020-11-04 14:02:18 -05:00
matlabbe 92b1dabf1c MainWindow: avoid uncompressing images/scans if they are not shown 2020-11-03 16:12:43 -05:00
matlabbe e269067d4c Texturing: add distanceToCamPolicy option 2020-11-03 16:11:37 -05:00
matlabbe 596cd10b69 Fixed -lBoost::timer not found on ubuntu18.04/arm64 (#587) 2020-11-01 13:08:55 -05:00
matlabbe 6a730b51c7 GUI-Preferences: disabled Daisy feature option on OpenCV 2 2020-11-01 13:01:23 -05:00
matlabbe 4ecf37a3ab fixed build with OpenCV 2.4 2020-11-01 12:49:21 -05:00
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 25c2a51ee3 fixed windows build 2020-10-29 18:03:36 -04:00
matlabbe 600484e12c Update .appveyor.yml 
#624
 2020-10-29 11:52:25 -04:00
matlabbe 8878d9fcdf Update .appveyor.yml 
#624
 2020-10-29 11:44:31 -04:00
matlabbe 72e1649cdd DataRecorder: added imu filtering by default 2020-10-22 18:02:24 -04:00
matlabbe afbc0edbd6 Local occupancy grid: fixed empty obstacles with scans having intensity channel when Grid/RangeMax is used. 2020-10-21 15:38:19 -04:00
matlabbe fbc30042c4 Fixed biggest index/min/max when Grid/MaxGroundHeight is set (http://official-rtab-map-forum.67519.x6.nabble.com/Comparison-between-realsense-D435-vs-T265-vs-T265-D435-dual-setup-td6456i20.html) 2020-10-18 15:56:13 -04:00
matlabbe a4da1e14b4 SIFT: fixed SIFT not extracted with OpenCV >=4.4 and >=3.4.11 when nonfree is false 2020-10-17 20:34:24 -04:00
matlabbe 3047b7da6b CameraRealSense2: update for L515 support 2020-10-17 19:57:27 -04:00
matlabbe bbb3c56008 Fixed android build 2020-10-16 14:55:50 -04:00
matlabbe f71f00277c DbViewer::AddConstraint: don't ask ofr manual constraint if already aborted previous question (when Reg/Strategy=1). 2020-10-12 17:41:06 -04:00
matlabbe 0e5ec91280 DbViewer: added option to ignore landmarks. Show landmark id in Constraints View. 2020-10-12 15:29:20 -04:00
matlabbe 3aae79270f Output an error if a timestamp file is missing instead of asserting #613 2020-10-12 14:30:57 -04:00
matlabbe 1b4a992b55 Merge branch 'master' of https://github.com/introlab/rtabmap into devel 2020-10-12 13:16:08 -04:00
matlabbe 384b120d2e Fixed landmark ignored when Rtabmap/StartNewMapOnLoopClosure is true and a loop closure is rejected (before graph optimization) 2020-10-12 13:05:14 -04:00
matlabbe 304c365ae6 Kp/ByteToFloat: Changed default of false 
Based on http://official-rtab-map-forum.67519.x6.nabble.com/ZED2-rtabmap-loop-closure-and-twisted-map-tp6986p7002.html
 2020-10-12 11:04:59 -04:00
matlabbe d5572d03ad DbViewer: added checkbox to enable Add for nodes not linked to graph 2020-10-09 12:15:33 -04:00
matlabbe 6d552b7873 DbViewer: fixed depth of features not shown 2020-10-09 11:10:48 -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 168c87b5ba Added statitic Timing/RAM_estimation/. Updated VWDictionary::getMemoryUsed(). 2020-10-05 22:11:28 -04:00
matlabbe a80e062bef Fixed build error in Trusty 2020-10-05 18:17:18 -04:00
matlabbe 9e321971ef Removed debug log 2020-10-05 17:49:26 -04:00
matlabbe 8260733b11 fixed detectMoreLoopClosures when RGBD/LocalBundleOnLoopClosure is true 2020-10-05 17:47:13 -04:00
matlabbe bbccbd63e4 Increased version to 0.20.5 
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 bedc771fa4 Rtabmap: added getNodesInRadius() public functions 2020-09-28 12:03:42 -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 c5158cade5 Fixed loop closure rejected if the camera on the robot changes orientation accordingly to base frame (http://official-rtab-map-forum.67519.x6.nabble.com/Mapping-with-multiple-stereocameras-localization-with-multiple-monochrome-monocular-cameras-tp6647p6953.html). The reason why that check was there was because ICP flipping 180 deg in some cases, but should be already detected with that commit https://github.com/introlab/rtabmap/commit/7a1cf84b0845f430fdaf0800c0960c9795a73ec4#diff-b65a61c23197f7ff77a877f62b630b2cR283. 2020-09-27 14:38:36 -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 3d33370e4c DbViewer: fixed error log when showing landmarks in Constraints view. 2020-09-15 17:12:00 -04:00
matlabbe 4e6e404951 Fixed "[Setjac] infinite jac" error when Vis/ForwardEstOnly is false. OptimizerG2O: Added a check to ignore invalid 3d points. 2020-09-15 15:18:49 -04:00
matlabbe 29368ebdb3 report: fixed database order in localization results 2020-09-15 14:06:23 -04:00
matlabbe a24211583d Rtabmap: init Bayes prediction when loading a database 2020-09-11 10:55:33 -04:00
matlabbe d50b33a7b8 Preferences: updated warnings for free sift (#596) 2020-09-10 17:56:49 -04:00
matlabbe a689d8a23f report: fixed how localization stats are split against localization sessions only 2020-09-10 14:09:27 -04:00
matlabbe bd80811ea1 Stats: added Loop/Distance_since_last_loc 2020-09-10 14:07:53 -04:00
matlabbe cabf03af44 Memory: fixed keypoints3d wrongly copied when not using odom features 2020-09-08 21:24:47 -04:00
matlabbe f93cdc31a6 Gui/source/K4A: added more description 2020-09-04 15:12:05 -04:00
matlabbe e0973fea92 CameraK4A: added imu support with playback. Fixed windows build error. 2020-09-04 14:10:32 -04:00
matlabbe 49cb470b8d CameraK4A: refactored to unify playback and real device code. Fixed ir option (with rectification). 2020-09-04 12:48:18 -04:00
matlabbe d2784095a3 Added K4A status on --version. About: added Mynteye status 2020-09-04 10:39:15 -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 24052a6ebe fixed pcl::getAngle3D not found error on latest pcl version (https://github.com/PointCloudLibrary/pcl/commit/6df3e602a72ea16657f901c9a6911d95b263ba08#diff-8e08415b9972a447d115dbca3f8fa0a1) 2020-08-25 10:56:30 -04:00
matlabbe 775c9318d3 Fixed Too large rotation detected message 2020-08-21 15:57:28 -04:00
matlabbe f263d560b4 OdomF2M: fixed complexity null for first scan is not having normals already 2020-08-21 14:32:08 -04:00
matlabbe 729f96f467 TORO: added warnings when prior or landmark links are detected 2020-08-21 11:26:22 -04:00
matlabbe 8d63e9eae1 Fixed 'cannot find -lBoost::thread' build error when building only with libpointmatcher dependency 2020-08-14 12:25:03 -04:00
matlabbe 39f68c44c6 Recovery: set back database in mapping mode after being saved in localization mode 2020-08-03 13:46:42 -04:00
matlabbe 0a9d237ac2 0.20.3: CameraRealSense2: Fixed D435i accel/gyro profile selection to avoid crash. Fixed Integrated D415 fix (#469) 2020-08-01 20:29:47 -04:00
matlabbe 07d21e6b03 VINS update log: printf to UDEBUG 2020-07-30 12:34:58 -04:00
matlabbe 53a759e2da Fixed missing vins usage with run_euroc_datasets.sh 2020-07-29 11:50:53 -04:00
matlabbe 6741355842 Ignore invalid GPS values (NaN #570) 2020-07-29 10:39:34 -04:00
matlabbe 1460c56254 Merge branch 'melodic-devel' of https://github.com/introlab/rtabmap 2020-07-12 15:02:00 -04:00