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1dadd50cf292cce4477f4a026e3a969c42c0baef
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469 Commits
Author SHA1 Message Date
matlabbe 3a7f88dc6c Updated error log that should not show up if Optimizer/Robust is true (#1172) 2023-11-28 13:29:33 -08:00
matlabbe 9c56a429cc Localization: Refactored getConnectedGraph() for 2d slam and tags (https://github.com/introlab/rtabmap_ros/issues/1057). Transform: Fixed is3DoF() and is 4DoF() 2023-11-16 22:44:32 -08:00
matlabbe 56552afa6c Tuning localization priors (added RGBD/LocalizationPriorError parameter) (#1156) 
* tuning localization priors (for https://github.com/introlab/rtabmap_ros/issues/1057)

* Set prior error value to same than old default value
 2023-11-05 15:14:11 -08:00
matlabbe ba5579f063 Only remove compressed raw data when publish data is false (keep features/occupancy grid) 2023-08-11 16:31:26 -07:00
matlabbe 6395487b58 Stats: distance from last localization not increasing if small motion 2023-08-10 15:17:15 -07:00
matlabbe 64f79813cd Added error log message when graph optimization error is huge (error ratio over > 100) and RGBD/OptimizeMaxError is disabled. 2023-07-03 18:04:54 -07:00
matlabbe 97be9d4ace Localization mode: Fixed proximity detection permanently disabled when Rtabmap/StartNewMapOnLoopClosure is true 2023-06-27 17:25:07 -07:00
matlabbe 0c3b202006 fixed build with MRPT 2023-06-06 08:51:40 -07:00
matlabbe 1cc7c2818f Localization covariance empty till localization 2023-06-05 20:08:21 -07:00
matlabbe ba33c080bc Added RGBD/LocalizationSmoothing parameter and fixed related issues (#1032) 
* removed code

* added landmark in graph optimization checks

* reverted smoothing, only if there is already a previous localization link

* Added RGBDLocalizationSmoothing parameter

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml
 2023-05-14 13:03:52 -07:00
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 724e068194 fixed a seg fault 2023-02-08 18:46:02 -08:00
matlabbe dcedd8bb6b Added MRPT optional dependency. Updated localization_pose + its covariance to be always published. 2023-02-03 17:25:38 -08:00
matlabbe 83693ed1b9 detectMoreLoopClosures: fixed guess not set for lidar-only registration (https://github.com/introlab/rtabmap_ros/issues/727) 2022-11-26 20:24:43 -08:00
matlabbe 860c14e0ec rtabmap: fixed export poses in format 10 and 11 (#883) 2022-11-26 12:42:04 -08:00
matlabbe 86f66cc8b8 Added missing signature info in republished data 2022-10-30 13:59:08 -07:00
matlabbe 1297714271 Bump version 0.20.22. Refactored RtabmapThread commands handling. MainWindow/RtabmapThread/Statistics/UVariant: added new option to republish missing data on GUI side. MainWindow: fixed 1 sec lag when waypoints are used. Parameters: added Rtabmap/MaxRepublished (moved from rtabmap_ros). OccupancyGrid: fixed ground cells ignored if there are empty cells, also don't add pose in addedNodes if corresponding node was not in cache. 2022-10-28 12:25:48 -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
matlabbeandmathieu86 fa31affea0 Pnp multicam refactoring (#902) 
* gui: fixed wrongly showing landmark rejected when it was not (because a loop closure was rejected at the same time)

* Added Vis/PnPMaxVariance and RGBD/InvertedReg parameters. Implemented inlier distribution computation for multicam.

* On loc/small displacement: don't remove from odom cache if loop is rejected (maybe first loc)

* Loc: don't prune odom cache on small movement if delayed loc is enabled

* loc/small movement: cleanup bidirectional links

* Cov/PnP: fixed objPt transform to estimate depth

Co-authored-by: mathieu86 <[email protected]>
 2022-09-24 12:29:42 -07:00
matlabbe 95a76cb696 gui: fixed wrongly showing landmark rejected when it was not (because a loop closure was rejected at the same time) 2022-09-22 15:16:08 -07:00
matlabbe 737675c6f1 fixed dereference end iterator assert (#900) 2022-09-19 07:34:48 -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
matlabbeandmathieu86 5943a8b065 Added stereo multi-camera support (#884) 
* Integrated OpenGV

* Fixed build without opengv

* Cmake: moved OpenGV dependency status under solvers group

* Added multi-stereocamera models support

* Fixed OpenGV 0 sample error when one of the camera doesn't have features. Fixed g2o BA id offset with multi-camera.

* Fixed multicam 3d points generated from stereo correspondences

* db: Fixed multi stereo models not loaded correctly

* gui: fixed stereo rectification option, RegVis: fixed projection error with old databases (image size not set in calibration)

* OdomF2M: Fixed map.at error when bundle adjustment is not used

* depthai: added imu firmware update option for convenience

* Fixed various refactor errors

* Moved "large number stereo correspondences rejected" warning outside computeCorrespondences function for multicam

* Added error log if ba correspondences are computed with empty signatures

* fixed compilation errors with latest opencv

Co-authored-by: mathieu86 <[email protected]>
 2022-07-20 15:20:14 -04:00
matlabbe 5d200a0799 Fixed _markerPriorsLinearVariance not intitialized 2022-05-05 11:08:44 -04:00
matlabbe b646c5e1db Marker priors (#859) 
* Added MarkerPriors parameter

* Fixed Marker/Priors format to use '|' instead ';'. Fixed landmark priors not used.

* Marker: added priors variance parameters

* g2o: refactored backward compatibility includes

* fixed build with old g2o
 2022-04-28 09:18:30 -04:00
matlabbe 190071678f Statistics: Added Memory/New_landmark. Rtabmap: don't remove node on small movements when a new landmark has been just detected. DbViewer: fixed missing statistics when ignored nodes are not saved in database. 2022-04-25 12:19:22 -04:00
matlabbe e6a5fe9c26 Don't do neighbor refining if fast movement has been detected 2022-02-20 18:09:39 -05:00
matlabbe e297320dd5 Removed backward compatibility with RGBD/OptimizeMaxError to be able to use ratio lower than 1. 2022-02-20 13:44:53 -05:00
matlabbe 9bd758a62c SuperPoint: return at minimum 2 features or 0 (fixed crash when only one feature). Python: added main python instance from Rtabmap object (to get python instancied once for ROS). MultiSessionWidget: Fixed layout warning. Memory::computeTransform() avoid re-instanciating RegistrationVis when Reg/Strategy=1 for guess transform (to fix PyMatcher re-initialized every time). CMake: added video module to opencv required components. 2022-02-15 01:28:38 -05:00
matlabbe 4776de7931 rtabmap: updated proximity paths check order when likehood is not available (use closest node). MainWindow: don't pause when error happens in monitoring mode / ROS. DbViewer: show local transform of scan. 2022-02-12 16:46:10 -05:00
matlabbe 191e165a28 GUI: Added Multi-Session Localization view. CameraModel: set localTransform to optical rotation in default constructor (fixed matrix invertion errors with code ignoring setting local transform), save/read local transform in/from camera calibration yaml file (so that local transform is also exported when extracting rgb/depth images). Rtabmap: in localization mode, ignore landmarks farther than RGBD/LocalRadius if no global loop closures are already in odometry cache. 2022-02-12 13:35:23 -05:00
matlabbe f584f42ea4 rtabmap/dbreader: save odometry covariance in pose prior link when in localization mode and saving localization data. 2022-02-06 20:17:46 -05:00
matlabbe b44b212218 Bump 0.20.19. OdomF2M: scale x0.1 covariance when local bundle adjustment is done. Rtabmap: fixed GT localization error when RGBD/MaxOdomCacheSize is used. 2022-02-06 17:41:53 -05:00
matlabbe 32ad92e2d2 GraphView: added optional overlay to better see odometry cache constraints. rtabmap: keep global loop closure id in statistics when proximity is detected on same node. 2022-02-03 21:58:36 -05:00
matlabbe 315350dbfc CCCorelib: updated wrong output check. Updated RGBD/MaxOdomCacheSize approach to work properly with Rtabmap/CreateIntermediateNodes=true. 2022-01-28 14:48:32 -05:00
matlabbe 5b3a7d5674 Localization: fixed always rejected localization when proximity and global loop closures are both detected at the same time at two different locations (clearing proximity detections from odometry cache if global loop closures are good). 2022-01-26 15:39:09 -05:00
matlabbe 83d1e27b81 Refactored graph::getPosesInRadius -> graph::findNearestPoses. Labels can be removed: added Remove label option in MainWindow. In localization mode, label set with id=0 is set to nearest node of current pose. 2022-01-20 18:56:38 -05:00
matlabbe 29a2b64a0c RGBD/NeighborLinkRefining: do one proximity detection by time if intermediate nodes are added. Optimized radiusFiltering(). Updated default parameters of proportionalRadiusFiltering(). 2022-01-14 18:47:57 -05:00
matlabbe 12c2dd707c Localization with Reg/Force3DoF=true, fixed how graph optimization errors are computed (use only x,y,yaw). 2022-01-12 16:59:03 -05:00
matlabbe fcec98105d Added RGBD/ProximityMergedScanCovFactor parameter. Localization: fixed output height when Reg/Force3DoF=true but input poses are 6DoF. Transform: added is3DoF() and is4DoF() functions. GTSAM: when Reg/Force3DoF=true, copy input roll,pitch,z values for output poses. RegIcp: fixed working memory dir '~' conversion. RGBD/ProximityGlobalScanMap: fixed map::at error when some nodes don't have scans. 2022-01-12 16:14:42 -05:00
matlabbe a4ec95963e Fixed a debug information 2022-01-11 15:59:53 -05:00
matlabbe 49353b134c LaserScan: fixed destination format when source is empty with operator+ 2022-01-11 15:32:30 -05:00
matlabbe a3823594a4 Converted an assert to an error. 2021-12-26 14:53:22 -05:00
matlabbe 93ee8f9b30 Working dir path: convert ~ to Home for convenience. Localization: don't show "cannot optimize" warning when RGBD/MaxOdomCacheSize=0 2021-12-24 18:24:44 -05:00
matlabbe 7ca881453e RGBD/StartAtOrigin: set first node of the graph, not Identity 2021-12-20 17:01:08 -05:00
matlabbe 8662eb0dd7 Statistics: added OdomCache data for debugging 2021-12-18 18:53:59 -05:00
matlabbe 33130890fd Localization: Improved resulting pose in case there are gravity constraints. iOS: clear odom trace when not visible, fixed opt mesh not correctly aligned with graph on loading when switching RGBD/OptimizeFromGraphEnd. 2021-12-18 15:37:49 -05:00
matlabbe bca8b30832 Localization 2d Slam: automatically rotate landmark links to have z-axis up for correct 3DoF optimization. When RGBD/MaxOdomCacheSize is used, wait for at least 2 temporal localizations before adjusting the pose (to avoid big jumps when only one constraint is used). 2021-12-17 11:00:37 -05:00
matlabbe 0e62050824 rtabmap: fixed graph re-optimized with only virtual links in localization mode (which can make gtsam crash because of under constrained covariance) 2021-12-12 13:07:02 -05:00
matlabbe cf5e90238b Statistics: added LoopOdom_correction stats for landmark detections. 2021-12-10 21:58:11 -05:00