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853 Commits

Author SHA1 Message Date
matlabbe
e269067d4c Texturing: add distanceToCamPolicy option 2020-11-03 16:11:37 -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
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
3047b7da6b CameraRealSense2: update for L515 support 2020-10-17 19:57:27 -04:00
matlabbe
1b4a992b55 Merge branch 'master' of https://github.com/introlab/rtabmap into devel 2020-10-12 13:16:08 -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
168c87b5ba Added statitic Timing/RAM_estimation/. Updated VWDictionary::getMemoryUsed(). 2020-10-05 22:11:28 -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
bd80811ea1 Stats: added Loop/Distance_since_last_loc 2020-09-10 14:07:53 -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
e800662bac Fixed build with OpenCV >= 3.4.11 2020-07-02 16:29:23 -04:00
matlabbe
cd10cafd0e Windows: fixed CameraRealSense2 driver freezing on close. 2020-07-01 20:58:04 -04:00
matlabbe
0809946c66 Windows: Fixed stereoRectifyFisheye.h 'cannot convert from cv::Mat to CvMat' compilation error with opencv >=3.4.4. Fixed k4a/k4atypes.h not found on guilib compilation. 2020-06-30 23:18:31 -04:00
matlabbe
274903dd63 Rtabmap::getSignatureCopy() added withWords and withGlobalDescriptors options 2020-06-22 22:56:25 -04:00
matlabbe
6e1f07e097 CameraK4A: fixed IMU local transform, fixed some compilation warnings. 2020-06-22 19:42:55 -04:00
matlabbe
c5ec4f337b util3d::segmentObstaclesFromGround() fixed no ground returned if maximum ground height is set and the biggest plane was not under that height (e.g., ceiling having more points than ground) 2020-06-18 21:30:43 -04:00
matlabbe
554b08256b Statistics: Added Odometry_correction_acc_* 2020-06-18 14:47:00 -04:00
matlabbe
4769fc235f Refactoring: set default local transform for camera drivers to opticalRotation. Added CameraModel::opticalRtotation() static function for convenience. Added CameraModel::load() from file directly for convenience. Added Camera::initFromFile() for convenience. Transform: Added opengl_T_rtabmap() and opengl_T_rtabmap() functions for convenience (convert back and forth between rtabmap world and opengl world coordinate frames) 2020-06-08 11:40:47 -04:00
matlabbe
ff5695878c Rtabmap::init() added loadDatabaseParameters argument for convenience (default false to be backward compatible) 2020-06-08 10:35:12 -04:00
matlabbe
6029b6283d Rtabmap: Refactored how fake odom is generated in localization mode when no odom is provided. Trigger new map in localization mode also clears last localization pose if RGBD/SavedLocalizationIgnored is true. 2020-06-08 10:14:21 -04:00
Thomas Kircher
de5610bd08 Added preferences for Azure Kinect camera (#559) 
* 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

* Added combo boxes for K4A options

* Functionalized combo boxes for K4A options

* Finished adding K4A preferences
 2020-06-04 11:34:37 -04:00
matlabbe
c7be9a23ee OdometryF2M: refactored imu buffer 2020-05-31 14:33:20 -04:00
matlabbe
caffb56246 DBViewer: fixed StereoSGBM panel not shown. Odometry: fixed Odom/GuessSmoothingDelay type 2020-05-31 13:26:54 -04:00
matlabbe
d5cfd8013d CameraMyntEye: added setIrControl() 2020-05-31 12:17:14 -04:00
matlabbe
415a2778f1 Added Features2d::limitKeypoints() with grid options. Odometry: if imu is provided and no guess is provided, the change of orientation of imu is used for rotation guess (overwrite rotation from Odom/GuessFromMotion). OdometryInfo: added gravity errors when imu is used. Preferences: added a second GravitySigma parameter (overwritting Optimizer/GravitySigma for odometry is not negative) for F2M odometry panel. 2020-05-31 11:22:12 -04:00
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
bf39c5295b Ported PCL 1.11 deprecated changes to PCL 1.10 (#550) 2020-05-27 17:45:16 -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
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
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
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
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
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
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