matlabbe
98635ae33d
GUI: fixed missing cache not republished in appearance-only mode
2023-03-04 13:38:27 -08:00
matlabbe
70cbe52fcf
DbViewer: exporting map info in yaml file when exporting 2d occupancy grid ( #978 )
2023-02-25 17:12:51 -08:00
matlabbe
731d73b798
CMake Config: added "rtabmap::" prefix for all rtabmap's targets, provide RTABMap_TARGETS list (used by ROS2/ament to detect modern cmake packages).
2023-02-22 23:07:30 -08:00
matlabbe
70c3d5d97f
DbViewer: added convenient option to rotate the occupancy grid (affect only optimized graph for localization mode).
2023-02-22 17:20:09 -08:00
matlabbe
23b0b37493
ImageView: updated depth color map gradient, added option to set minimum depth.
2023-02-22 12:34:20 -08:00
matlabbe
89e3e10d89
Refactoring RTABMapConfig.cmake with targets ( #904 )
...
* Config: Using cmake targets
* fixed RTABMAP_DEPRECATED build error
* fixed melodic build
* cleanup
* Fixed qhull exported library error
* Update svg depend private
* removed g2o from public interface
* Fixed Windows with external project
* removed some required dep
* Fixed nsis error (also fixed unspecified components)
* updated workflow rules
2023-02-12 16:18:01 -08:00
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
b5eef4b86a
DBViewer: ignore marker constraints in refine, add marker priors when optimizing the graph
2023-01-21 15:52:01 -08:00
matlabbe
16e3314e64
💄
2022-11-11 14:45:33 -08:00
matlabbe
2889cf8048
GUI: fixed latest data requested on localization mode
2022-10-31 13:21:13 -07:00
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
8e30c1c812
GraphView: added user link on inter/intra loop closure color scheme option
2022-10-24 17:45:16 -07:00
matlabbe
df888962f4
depthai: fixed app freezing if oakd device (oak-d lite) doesn't have imu and imu is requested.
2022-10-24 11:13:27 -07:00
matlabbe
769ace86ce
Added oak-d lite menu option (depthai: imu is now optionnal)
2022-10-23 18:15:23 -07:00
matlabbe
97a150b180
DbViewer: added option to regenerate optimized 2d map from OctoMap ( https://github.com/introlab/rtabmap_ros/issues/213 )
2022-10-23 12:16:35 -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
1e9b090624
Gui: Added re-localization colors on odom cache graph. Added frame labels (map, odom).
2022-10-04 16:27:33 -07:00
matlabbe
7e3e5ec50b
DBViewer: fixed matching lines when two images don't have the same number of cameras. Fixed nodes with w=-9 can be used to add constraint (in case localization data is saved in database). Add constraint: compute transform in order of the sliders.
2022-10-04 14:23:12 -07:00
matlabbe
55546132a0
Fixed build on 16.04
2022-09-27 17:22:52 +00:00
matlabbe
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 <mathieu@robust.ai >
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
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
83c1adfd1e
Updated illumination invariant paper documentation
2022-06-26 20:46:08 -07:00
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
e92dfd50e1
GUI: set default working dir if it is empty in the loaded config
2022-04-10 15:59:38 -04:00
matlabbe
3e630e0250
UPlot: fixed number of digits after the decimal points to 6 when exporting data to text
2022-04-04 11:42:36 -04:00
matlabbe
e46af2c3cd
DbViewer: Added GroundTruth pose in node info labels
2022-03-31 12:00:52 -04:00
matlabbe
6cefc6d00a
DBViewer: added camera frustums in Constraints View
2022-03-25 11:24:34 -04:00
matlabbe
1e82fd3110
ImageView: added option to set maximum range for depth colormap
2022-03-03 18:01:04 -05:00
matlabbe
f140e99881
DBViewer: fixed kml export disabled for poses when there are gps values. Fixed commas used instead of dots for float in kml export on french machine.
2022-02-27 15:20:02 -05:00
matlabbe
4d895785a6
GraphViewer: added Ensure Frame Visible menu option. MainWindow: fixed loop signature failed to load image warning when camera is not used.
2022-02-19 16:16:29 -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
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
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
d56692640e
DBViewer: fixed grid cell size in 3D View. Memory/Grid, using Icp/PointToPlaneGroundNormalsUp parameter when normals are computed. Grid: fixed 2D noHit ray tracing.
2022-01-25 18:10:43 -05:00
Ben
2dc7b59b05
allow negative min disparity in StereoBM dialog ( #817 )
2022-01-24 17:02:47 -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
a56373f66d
GUI/ExportClouds: fixed color of scans having RGB instead of intensity.
2022-01-19 16:59:43 -05:00
matlabbe
7a5c50cb0e
Fixed compilation warnings
2022-01-16 15:27:52 -05:00
matlabbe
aa0e6ef692
GUI:Export Poses: fixed poses!=stamps issue when there are landmarks (landmarks now only exported with g2o format)
2022-01-15 21:49:40 -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
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
e4955ee386
GUI: fixed mynteye raw images support error
2021-12-29 16:12:02 -05:00
matlabbe
e5b4973ddc
GUI: Added Orbbec Astra icon
2021-12-29 15:53:40 -05:00
