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
dcedd8bb6b
Added MRPT optional dependency. Updated localization_pose + its covariance to be always published.
2023-02-03 17:25:38 -08:00
matlabbe
e4edee33eb
Fixed build with cvsba and ceres
2023-01-28 18:49:58 -08:00
matlabbe
6b9f7de782
Fixed a -pedantic warning
2023-01-16 14:14:25 -08:00
matlabbe
a4761ad397
Fixed #940
2022-12-11 01:12:21 -08:00
matlabbe
467dc738c7
Fixed deprecated warning not set to right function
2022-12-05 20:32:53 -08:00
matlabbe
8a8c360f89
fixed compilation warning
2022-11-27 16:20:56 -08:00
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
769ace86ce
Added oak-d lite menu option (depthai: imu is now optionnal)
2022-10-23 18:15:23 -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
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
4d6bc78e3d
implement multi camera marker detection #898 ( #899 )
...
* Added multicamera marker detection support
* Fixed marker detection on camera index> 0
Co-authored-by: mathieu86 <mathieu@robust.ai >
2022-09-14 17:13:59 -07:00
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 )
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* 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
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
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
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
matlabbe
e2dc3ac67e
OctoMap: fixed empty occupancy not correctly updated when ray tracing is done on more than one local map
2022-01-23 16:29:11 -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
9622fe8393
Parameters: set default Icp/PointToPlaneRadius to 0 to avoid 'Both radius and K defined' error when using 3d lidar.
2022-01-16 12:56:18 -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
12c2dd707c
Localization with Reg/Force3DoF=true, fixed how graph optimization errors are computed (use only x,y,yaw).
2022-01-12 16:59:03 -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
a4ec95963e
Fixed a debug information
2022-01-11 15:59:53 -05:00
matlabbe
5194f40794
Fixed g2o build error with melodic/noetic versions
2022-01-03 15:37:06 -05:00
matlabbe
8662eb0dd7
Statistics: added OdomCache data for debugging
2021-12-18 18:53:59 -05:00
matlabbe
8cf12c6135
Improved localization mode accuracy (decreasing jumps on consecutive loop closures or landmark detections). Updated usage of parameter RGBD/MaxOdomCacheSize (default 0->10)
2021-12-10 17:48:36 -05:00
matlabbe
580e35afb1
Fixed missing 3D keypoints when RGBD/LoopClosureReextractFeatures=true and Reg/Strategy=1 ( https://github.com/introlab/rtabmap_ros/issues/668 ). DBViewer: fixed wrong poses optimization with GTSAM when showing scans of loop closures by proximity by space (multiscan) while there are GPS priors.
2021-12-05 17:38:53 -05:00
matlabbe
baae713471
Fixed unknown lines for octomap 2D grid projection. ( https://github.com/introlab/rtabmap_ros/issues/684 )
2021-11-30 20:34:51 -05:00
matlabbe
dbecaac809
Moved bin dir inside build directory ( #784 )
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* 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
6c07a670ee
Added OdometryOpen3D
2021-11-13 19:45:57 -05:00
matlabbe
ddd5eb5a41
CameraRealSense2: Odom extrinsics against another sensor can be calibrated with having to calibrate stereo first. DBViewer: fixed local grid wrongly using global grid parameters.
2021-11-05 18:05:50 -04:00
matlabbe
7c5acd8970
Parameters: Changed Grid/FromDepth to Grid/Sensor to add a new choice to use both scan and depth for local grids. Increased version to 0.20.15.
2021-10-29 20:05:12 -04:00
matlabbe
8c56b5b1ce
CMake: added WITH_OPENMP option (to be able to disable it). CameraOpenNI2: Added depth decimation parameter. CLAMS: can apply distortion model to smaller images.
2021-09-24 17:31:16 -04:00
matlabbe
5f65618d40
Added OdomLOAM/Resolution parameter
2021-09-22 10:48:59 -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
3ba02d2ef6
Added OdometryFLOAM (Odom/Strategy=11)
2021-09-09 17:38:54 -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
ed68fe777b
Added more options for multiband texturing
2021-08-16 13:14:02 -04:00
matlabbe
138d4aa1be
If RGBD/LoopClosureReextractFeatures=true, don't save raw features (3d point, descriptor) to Feature table.
2021-07-28 14:32:32 -04:00
matlabbe
32bf0f9d61
Fixed CameraDepthAI with latest depthai version (using now camera eeprom calibration and added imu support)
2021-07-28 14:19:30 -04:00
matlabbe
05d45872f3
DBReader: publish landmarks by default (also added option to ignore them)
2021-06-29 16:03:21 -04:00
matlabbe
3da4bb9faa
For Icp/DebugExportFormat and RGBD/ProximityGlobalScanMap, use Rtabmap/WorkingDirectory as output directory for debugging files.
2021-06-27 20:37:42 -04:00
matlabbe
a921d615c5
0.20.13: templated laserScanFromPointCloud() version with PCLPointCloud2 to be also used with sensor_msgs/PointCloud2 class (for rtabmap_ros).
2021-06-27 20:07:00 -04:00
