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Author SHA1 Message Date
matlabbe 5fd0448924 docker cleanup 2023-02-04 17:41:07 -08:00
matlabbe 413be8e824 updated docker 2023-02-03 18:06:56 -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 128d3b0d0a ZED: Fixed some warnings (#961) 2023-01-28 16:33:24 -08:00
matlabbe ff61266430 docker: fixed focal-foxy build 2023-01-22 17:06:32 -08:00
matlabbe f928cb6787 docker: added focal-foxy 2023-01-22 16:56:31 -08:00
matlabbe 3a9ae201a7 docker/jammy: added multiarh lib folder for arm64 2023-01-22 16:40:16 -08:00
matlabbe 34af17de59 Docker: Added jammy 2023-01-22 16:14:39 -08:00
matlabbe 95e6a9f039 bump 0.20.23 2023-01-21 16:09:41 -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 6b9f7de782 Fixed a -pedantic warning 2023-01-16 14:14:25 -08:00
matlabbe 22fede9335 Reprocess: added --odom option to recompute odometry. 2023-01-15 15:07:24 -08:00
matlabbe 22917cc1c3 VTK9: Fixed vtkGUISupportQt -> VTK::GUISupportQt 2023-01-14 20:12:33 -08:00
matlabbe 98bf3fb184 workflows: removed galactic build (EOF) 2023-01-08 16:59:24 -08:00
matlabbe 8d301afe6c reprocess: added --default option 2023-01-08 16:29:44 -08:00
matlabbe e3ceb8a572 VINS-Fusion: Fixed error wrongly logged when only imu is processed by vins. 2023-01-08 15:22:46 -08:00
matlabbe f12cc83fc2 RegVis: using toSignature camera model for guess reprojection on optical flow mode (#947) 2022-12-20 20:51:56 -08:00
matlabbe 4a6a765cd1 Fixed #944 2022-12-14 19:42:56 -08:00
matlabbe a4761ad397 Fixed #940 2022-12-11 01:12:21 -08:00
matlabbe aa380de2a7 Update install_deps.sh 
Removed vtk default iOS simulator build
 2022-12-07 17:59:11 -08:00
matlabbe 467dc738c7 Fixed deprecated warning not set to right function 2022-12-05 20:32:53 -08:00
matlabbe 64cb7fb6fe export: when --images and --cam_projection are used, we export depth image from lidar projection to RGB frames 2022-12-04 17:23:33 -08:00
matlabbe 8a8c360f89 fixed compilation warning 2022-11-27 16:20:56 -08:00
matlabbe 83693ed1b9 detectMoreLoopClosures: fixed guess not set for lidar-only registration (https://github.com/introlab/rtabmap_ros/issues/727) 2022-11-26 20:24:43 -08:00
matlabbe 860c14e0ec rtabmap: fixed export poses in format 10 and 11 (#883) 2022-11-26 12:42:04 -08:00
matlabbe 85bc1ee27f GTSAM: return empty optimized poses in case of exception or error. g2o: don't assert on marginal not computed, log error and reutn empty optimized poses. 2022-11-22 12:26:02 -08:00
matlabbe 05676d1577 ios: Moved install_deps.sh in upper directory to easy cleanup Libraries. Fixed uNumber2Str(double) link error. 2022-11-19 12:41:01 -08:00
matlabbe 6d713c2ccb uNumberToStr(double): added "fixed" param (default false) to fix ros param double/int conversion issue. 2022-11-11 16:20:59 -08:00
matlabbe 16e3314e64 💄 2022-11-11 14:45:33 -08:00
matlabbe d59a306ae3 Export: fixed depth image wrongly set for stereo data 2022-11-10 17:18:57 -08:00
matlabbe bdfab4e0be reprocess: added "-a" option (append mode) 2022-11-02 15:06:13 -07:00
matlabbe c9d50ef445 Export GPS poses: set 8 decimals (1 mm accuracy) https://github.com/introlab/rtabmap_ros/issues/833 2022-11-02 11:35:54 -07:00
matlabbe 2889cf8048 GUI: fixed latest data requested on localization mode 2022-10-31 13:21:13 -07:00
matlabbe def876983d docker/android: fixed docker not detecting compilation failure. ios: added exit flag for install_deps.sh script 2022-10-30 15:07:55 -07:00
matlabbe 69214b927a fixed android build 2022-10-30 14:47:34 -07:00
matlabbe 67b2cbe5ca docker: set dummy build-args for build not required them 2022-10-30 14:39:33 -07:00
matlabbe 86f66cc8b8 Added missing signature info in republished data 2022-10-30 13:59:08 -07:00
matlabbe d70924a3a4 bump package version 0.20.22 2022-10-28 12:30:01 -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 a8cdf1f940 reprocess: disable Mem/UseOdomFeatures by default when there are more than 1 input database 2022-10-24 10:34:37 -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 6e8f43916c floam: republish input scan with features 2022-10-16 21:31:43 -07:00
matlabbe 5b0047efad docker: fixed AliceVision build (bionic/focal) 2022-10-15 14:06:20 -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 2cbd43dfb6 Update cmake-ros.yml 
Added ros2 distros
 2022-10-09 12:47:03 -07:00
matlabbe 1f06386f37 Update README.md 2022-10-09 12:22:09 -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 8d23f19f6c bump ros package version 2022-10-01 18:30:51 -07:00
matlabbe 9afbcf2d06 detectMoreLoopClosures tool: regenerate global occupancy grid for convenience if there was one before 2022-09-30 15:48:09 -07:00
matlabbe 30bf5895ca Fixed #909 2022-09-30 14:17:23 -07:00
matlabbe e0a2adcb45 Updated latest jfr2018 docker 2022-09-27 16:37:25 -07:00
matlabbe 87faea7a85 Fixed ceres linker issue with floam dependency (if WITH_CERES is OFF) 2022-09-27 23:35:13 +00:00
matlabbe 74c6e9cfec Fixed compilation error about stereoCameraModel() not found (#905) with OpenVINS odometry 2022-09-27 13:48:57 -07:00
matlabbe 675dad5f76 Fixed compilation error about stereoCameraModel() not found (#905) with odometry approaches: Fovis, MSCKF, Okvis, VINS, Viso2. 2022-09-27 18:56:05 +00:00
matlabbe 55546132a0 Fixed build on 16.04 2022-09-27 17:22:52 +00:00
matlabbeandmathieu86 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 737675c6f1 fixed dereference end iterator assert (#900) 2022-09-19 07:34:48 -07:00
matlabbeandmathieu86 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 adfb250d4e 2022-IlluminationInvariant: set RGBD/OptimizeMaxError to 0 to make it easier to reproduce results of the paper 2022-09-13 19:58:55 -07:00
matlabbe a14b39b953 fixed android docker file not found on CI 2022-09-13 00:45:39 -07:00
matlabbe 3dd0965a15 Updated archive/2022-IlluminationInvariant/README.md 2022-09-13 00:29:44 -07:00
matlabbe e059ead7f5 Merge branch 'master' of https://github.com/introlab/rtabmap 2022-09-12 23:22:59 -07:00
matlabbe 749cd096ff Fixed map::at() seg fault when localizing on a database with multiple disjoint sessions 2022-09-13 06:19:23 +00:00
matlabbe 37b920396c Added docker image for frontiers2022 (updated README in archive/2022-IlluminationInvariant) 2022-09-11 13:03:32 -07:00
matlabbe 0dc5fbdd70 fixed #873 2022-09-06 16:19:20 -07:00
matlabbe f1c987a0ce Fixed android build (res tool not found) 2022-09-04 14:29:59 -04:00
matlabbe 69b0caed6f Update README.md 2022-09-04 13:39:40 -04:00
matlabbe 8cd4a6feff OdomF2M: fixed lidar-only broken from commit https://github.com/introlab/rtabmap/commit/9797918d520f63e15d9ec225365f4d32c9300994 2022-07-28 11:48:55 -04:00
matlabbe 33e54430a1 bump version 0.20.20 (api changes on CameraModel) 2022-07-28 10:51:13 -04:00
matlabbe 9797918d52 fixed https://github.com/introlab/rtabmap_ros/issues/790 2022-07-27 10:15:21 -04:00
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
matlabbeandmathieu86 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
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