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Author SHA1 Message Date
matlabbe ffdb2eb855 Docker: added focal image, fixed bionic image not building with alicevision. Updated travis with focal build. 2020-06-09 21:15:54 -04:00
matlabbe 13679cc52a Export tool: fixed generated texture output directory 2020-06-09 12:58:55 -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
matlabbe 86ac63ab19 UPlot: changed float to qreal (double). Added UPlot::frameData() function. 2020-06-07 11:55:27 -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 7a9a5d2ef9 CloudViewer: updated camera clipping 2 2020-06-03 14:50:59 -04:00
matlabbe b6d4c6f024 CloudViewer: fixed camera clipping the grid 2020-06-03 13:41:36 -04:00
matlabbe ff3c6c8e06 Update README.md 2020-06-02 19:59:21 -04:00
matlabbe e2007a8f82 CloudViewer: fixed build with vtk<6 0.20.0-noetic 0.20.0-kinetic 2020-06-01 22:18:45 -04:00
matlabbe bda18bc517 CloudViewer: added EDL shading option 2020-06-01 21:44:42 -04:00
matlabbe d00717b068 package.xml: removed explicit dependency to libvtk-qt (https://github.com/introlab/rtabmap/issues/557) 2020-06-01 11:42:35 -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 6e55525a7b Memory::getNeighborsId() fixed no link returned when looking in database 2020-05-30 09:20:32 -04:00
matlabbe 7eae992d6f rtabmap-report: fixed map.at() error if the database as empty statistics 2020-05-28 21:21:31 -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 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