matlabbe
aa3b71dbf6
docker: added missing wget dependency for arm64 (opengv dpendency)
2022-07-20 22:39:41 -04:00
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
71a28bb570
Update README.md
2022-06-29 22:23:56 -04:00
matlabbe
89f56642b7
Update README.md
2022-06-26 21:30:14 -07:00
matlabbe
fb6770d70f
Update README.md
2022-06-26 20:59:20 -07:00
matlabbe
a10eb062e5
Update README.md
2022-06-26 20:58:15 -07:00
matlabbe
4d502c9e0d
Create README.md
2022-06-26 20:54:34 -07:00
matlabbe
83c1adfd1e
Updated illumination invariant paper documentation
2022-06-26 20:46:08 -07:00
mathieu86
bc42bc3520
Added Kp/ByteToFloat parameter to odom parameters
2022-06-09 10:51:08 -07:00
matlabbe
8f8256c1dd
would fix : #618 #790 #795 ( #871 )
2022-05-30 07:24:04 -04:00
matlabbe
744c737da1
Update README.md
2022-05-28 17:22:50 -04:00
matlabbe
4cfd3ba496
Updated cmake workflow name
2022-05-28 17:20:49 -04:00
matlabbe
2da333895c
workflow: added minimal build for Ubuntu 22.04
2022-05-28 17:14:55 -04:00
matlabbe
601e4015fb
fixed android docker script path
2022-05-28 16:15:51 -04:00
matlabbe
47c94a4474
workflows docker: use current context instead of cloning the repo inside dockerfile
2022-05-28 16:11:52 -04:00
matlabbe
cf64b20e1f
Fixed error: ‘drawAxis’ is not a member of ‘cv::aruco’ (opencv 4.5.5)
2022-05-10 22:47:15 -04:00
matlabbe
5d200a0799
Fixed _markerPriorsLinearVariance not intitialized
2022-05-05 11:08:44 -04:00
matlabbe
dab7aa6e58
export: added min_range option
2022-05-03 23:12:09 -04:00
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
dc58266eda
ORBSLAM2: fixed build
2022-04-10 19:42:15 -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
1857111d7d
Reprocess: added option to stream only one camera (in case of multi-camera database)
2022-04-06 14:07:23 -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
d35193721b
report tool: option --loc can be used without a number.
2022-04-01 13:53:32 -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
ff739a98a5
Removed opencv's optflow module from required dependency ( https://github.com/introlab/rtabmap/issues/427#issuecomment-1058767133 )
2022-03-07 00:12:56 -05:00
matlabbe
4321c3040a
CameraDepthAI: fixed imu transform and depth mode with latest depthai-core version
2022-03-06 22:25:01 -05:00
matlabbe
1e82fd3110
ImageView: added option to set maximum range for depth colormap
2022-03-03 18:01:04 -05:00
matlabbe
b9c7182a08
Update package.xml
2022-03-03 14:06:15 -05:00
matlabbe
656da152b3
multiband: fixed error when intermediate nodes without data are in memory
2022-03-01 18:42:43 -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
53e0099dd8
ios: tmp database is now public, so it can be copied from file explorer / Finder in case recovery fails.
2022-02-27 14:32:19 -05:00
matlabbe
51f779628f
Recovery: original database is erased/replaced only after successful recovery (in case there is an seg fault during recovery).
2022-02-27 13:50:40 -05:00
matlabbe
e7ee025127
Export: fixed texturing assert when there are intermediate nodes
2022-02-25 02:08:08 -05:00
matlabbe
e6a5fe9c26
Don't do neighbor refining if fast movement has been detected
2022-02-20 18:09:39 -05:00
matlabbe
e297320dd5
Removed backward compatibility with RGBD/OptimizeMaxError to be able to use ratio lower than 1.
2022-02-20 13:44:53 -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
c2c68c0caf
Updated exported poses in TUM format to avoid confusion with header when importing in CloudCompare
2022-02-18 12:17:47 -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
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
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
f584f42ea4
rtabmap/dbreader: save odometry covariance in pose prior link when in localization mode and saving localization data.
2022-02-06 20:17:46 -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
9ad6b626e4
Updated how covariance is computed for 2d-3d estimation without query's depth image available (instead of computed from reprojection error)
2022-02-05 16:41:43 -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
6f8f6d4d8e
android: reverted export zip cleanup (keep zip files in export subdir for easy usb transfer)
2022-02-02 17:05:49 -05:00
