9 Commits

Author	SHA1	Message	Date
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	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	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