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
64cb7fb6fe
export: when --images and --cam_projection are used, we export depth image from lidar projection to RGB frames
2022-12-04 17:23:33 -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
9afbcf2d06
detectMoreLoopClosures tool: regenerate global occupancy grid for convenience if there was one before
2022-09-30 15:48:09 -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
34ed9d79c7
export: added --texture_blur filtering option
2022-07-20 22:08:45 -04:00
matlabbe
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 <mathieu@robust.ai >
2022-07-20 15:20:14 -04:00
matlabbe
dab7aa6e58
export: added min_range option
2022-05-03 23:12:09 -04:00
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
d35193721b
report tool: option --loc can be used without a number.
2022-04-01 13:53:32 -04:00
matlabbe
656da152b3
multiband: fixed error when intermediate nodes without data are in memory
2022-03-01 18:42:43 -05:00
matlabbe
e7ee025127
Export: fixed texturing assert when there are intermediate nodes
2022-02-25 02:08:08 -05:00
matlabbe
578c19cc38
Export CLI: for --poses_camera option with intermediate nodes in db, re-use previous camera models of last valid node with data.
2022-02-13 14:45:08 -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
02140f92db
fixed build
2022-01-27 22:55:59 -05:00
matlabbe
402afc07ed
ExportDialog: added ground normals up option, added camera projection mask and decimation options. Export CLI: added --ground_normals_up and --cam_projection_mask options, changed --bin option by --ascii option (now binary by default). DBViewer: warn when scan from depth option is enabled but there is no depth.
2022-01-27 17:57:56 -05:00
matlabbe
a8e5bbf415
export: added --texture_roi_ratios option
2022-01-26 20:12:04 -05:00
matlabbe
5f55f63443
report: ignoring landmarks after optimization to avoid errors when exporting poses
2022-01-15 22:02:45 -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
9e0173f4cb
Export: added random sample filter, added proportional radius filter, refactored when normals are computed (now after the clouds are assembled and voxelized), moved ceiling and floor filtering inside assembling loop.
2022-01-14 13:36:01 -05:00
matlabbe
67710ef94c
Export: optimized camera projection RAM usage. Added --texture_angle and --cam_projection_decimation options.
2021-11-21 17:10:57 -05:00
matlabbe
459c7b2bd7
Export: added --min_cluster option.
2021-11-16 11:58:55 -05:00
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
06150c697f
Fixed #750
2021-11-08 14:20:21 -05:00
matlabbe
2ad334df90
Added filter_floor and adjusted default values.
2021-10-29 13:58:00 -04:00
matlabbe
0ab5a8f43e
Merge branch 'master' of https://github.com/RobotnikAutomation/rtabmap into RobotnikAutomation-master
2021-10-29 13:57:16 -04:00
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
Ines
6cb741667d
Add ceiling filter to rtabmap-export
2021-10-22 12:36:53 +02:00
matlabbe
d0242b14cf
DetectMoreLoopClosures CLI: show overridden parameters
2021-10-11 13:52:55 -04:00
matlabbe
bccc5b13af
FLOAM: added some debug logs
2021-09-24 11:32:25 -04:00
matlabbe
14b56813d3
Updated for AliceVision >=2.4.0 compatibility. Export: added --multiband_contrib option.
2021-09-19 20:20:45 -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
263e0170f1
export: refactored ba (to support stereo data)
2021-09-09 14:22:02 -04:00
matlabbe
20361400e1
export: output intensity channel with RGB when --cam_projection and --scan options are set (PDAL required)
2021-09-07 15:57:23 -04:00
matlabbe
371a3ef851
fixed CleanupLocalGrids install target
2021-09-01 10:23:45 -04:00
matlabbe
daefc5ff54
Added rtabmap-cleanupLocalGrids CLI
2021-08-28 22:19:59 -04:00
matlabbe
c5e4d67f80
export: don't assert if gain is zero (means disabled)
2021-08-16 20:27:31 -04:00
matlabbe
ed68fe777b
Added more options for multiband texturing
2021-08-16 13:14:02 -04:00
matlabbe
db00e04cc1
rtabmap-info: updated to show parameters not in the database.
2021-08-12 10:55:08 -04:00
matlabbe
eeecb21793
export tool: added --camera_projection_keep_all option
2021-08-03 13:46:39 -04:00
matlabbe
f9257beeb8
export: updated default poses format (11)
2021-07-05 12:58:24 -04:00
matlabbe
485bf806bd
export tool: use pcl's PLY writer instead of pdal if camera ids are not exported (ply compatibility issue when reading back using pcl)
2021-07-05 10:04:51 -04:00
matlabbe
68ae3b76af
export: updated to export calibration for every files (to support auto-focus cameras). Added output_dir option.
2021-07-05 09:46:12 -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
d75cc04ad2
CloudViewer: fixed opengl not refreshed on update (VTK9). Fixed File Explorer hanging (Qt 5.12). Fixed backup database not deleted after a recovery.
2021-06-18 12:43:08 -04:00
