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Author SHA1 Message Date
matlabbe
2509b6ee09 Statistics: added MapToOdom and MapToBase stats 2020-05-28 21:04:01 -04:00
matlabbe
45ddce938a CameraMyntEye/GUI: added manual/auto exposure option (default auto). Rtabmap: refactored warning when RGBD/OptimizeFromGraphEnd changes state. 2020-05-28 19:50:02 -04:00
matlabbe
6e0081e248 MainWindow: made mynteye action checkable. 2020-05-28 14:04:10 -04:00
matlabbe
bf39c5295b Ported PCL 1.11 deprecated changes to PCL 1.10 (#550) 2020-05-27 17:45:16 -04:00
matlabbe
8842d0c0e3 fixed isfinite -> std::isfinite 2020-05-27 16:39:50 -04:00
matlabbe
511be5f663 Fixed build with pcl 1.11 (#550). Fixed pcl 1.11 warnings (boost->std). 2020-05-27 16:35:33 -04:00
matlabbe
ae5ce029d6 Fixed SIFT build issue between OpenCV 4.3.0 and OpenCV 4.3.0-dev 2020-05-27 10:35:18 -04:00
matlabbe
798466bb05 Increased ros package version to 0.20.0. Parameters: fixed default feature detector when xfeatures2d is not found 2020-05-26 22:44:44 -04:00
matlabbe
0902ccc340 Updated error message when SBA is done on multicam setup. 2020-05-26 11:04:23 -04:00
matlabbe
208f1e5b7c OdomF2M: fixed complexity check on 2d scans (https://github.com/introlab/rtabmap_ros/issues/412) 2020-05-25 20:07:58 -04:00
matlabbe
b40d9610ed Preferences: Fixed xfeatures2d features not available without nonfree on OpenCV >= 3.4.2 (https://github.com/introlab/rtabmap_ros/issues/422) 2020-05-25 17:31:13 -04:00
Thomas Kircher
35385e299d K4A mapping working now (#554) 
* 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

* K4A added model parameter so we can create maps
 2020-05-25 11:46:16 -04:00
matlabbe
6acfc62196 CloudViewer: adjust frustum fov based on camera model (https://github.com/introlab/rtabmap_ros/issues/419) 2020-05-24 11:13:13 -04:00
matlabbe
eb9999d7b1 Rtabmap::addLink() supporting localization mode. MainWindow: fixed flickering camera frustum. 2020-05-21 21:26:29 -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) 
* 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
Thomas Kircher
89ece8cd4e Preliminary K4A device support (#552) 
* 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
 2020-05-20 15:31:30 -04:00
matlabbe
360a153565 Parameters: Renamed SuperGlue group to PyMatcher group. Added OANet python script. 2020-05-20 09:45:39 -04:00
matlabbe
63d40b2240 Fixing trusty build 2020-05-19 18:06:20 -04:00
matlabbe
cb60443a33 Fixing OpenCV<3 build 2020-05-19 15:44:41 -04:00
matlabbe
609d45ac9b 💄 2020-05-19 15:33:32 -04:00
Thomas Kircher
b542d6a0db Added Kinect for Azure menu option (#551) 
* Added Kinect for Azure menu option

* Reintegrated Kinect for Azure initialization code, fixed previous GUI commit

* Added ifdefs to fix build
 2020-05-19 15:03:36 -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
00695731fe SuperGlue: added traceback when there is an error with python. 2020-05-13 11:18:34 -04:00
matlabbe
09d2f7d232 Fixed android build 2020-05-12 22:04:03 -04:00
matlabbe
e906b40e50 Fixed build with opencv < 3.4.1 2020-05-12 10:26:08 -04:00
matlabbe
1b675c3dcb Preferences: fixed SuperGlue/Indoor widget not found 2020-05-11 14:10:49 -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
fbdc3780c7 Freenect: fixed imu local transform. Preferences: show imu filters with freenect driver. 2020-05-09 23:13:39 -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
abc3ebee8c fixed #538 2020-05-09 11:48:06 -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
7d377d26df Added Rtabmap::getSignatureCopy() 2020-05-05 13:26:40 -04:00
matlabbe
7041d5fd34 Fixed #541 2020-05-03 22:59:35 -04:00
matlabbe
c19da22ca4 0.20: added GlobalDescriptor table in database 2020-05-03 21:46:25 -04:00
matlabbe
50c3bb7ce9 fixed #540 0.19.7 2020-05-03 14:05:14 -04:00
matlabbe
0a4d0038cb Preferences dialog: fixed missing Vis/CorCrossCheck checkbox 2020-05-02 11:03:17 -04:00
matlabbe
d14efea4ac Added Vis/CorCrossCheck parameter (to use BFMatcher with crosscheck option instead of knn with NNDR for features matching). DBViewer: after refine or add constraint, lines indicating feature correspondences are now shown with different color if they are inliers. Re-enabled saving/loading settings of the ImageViews (feature color, line color, transparency...). 2020-05-01 22:12:56 -04:00
matlabbe
45223b306a Increased SPTorch/Threshold decimals for more fine tuning in DBViewer 2020-05-01 19:59:28 -04:00
matlabbe
3e9cff4053 fixed build with opencv 4.3 2020-05-01 09:51:54 -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
803c99cee2 RegVis: fixed Vis/MaxDepth and Vis/MinDepth ignored when features are already extracted. 2020-04-30 15:07:32 -04:00
matlabbe
5d16ae8cfe DBViewer: fixed calibration not found on refining without re-extracting features, fixed visualized ids switched on refine in some cases, fixed clouds not shown in constraints view after refine without re-extracting features 2020-04-30 14:17:46 -04:00
matlabbe
ace93b0356 GUI: check mynteye when selected 2020-04-30 01:00:17 -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
b3eee0d7bf android: fixed yuv conversion bug on some devices, updated default driver based on which one is available and built with it. 2020-04-29 12:18:02 -04:00