matlabbe
9e321971ef
Removed debug log
2020-10-05 17:49:26 -04:00
matlabbe
8260733b11
fixed detectMoreLoopClosures when RGBD/LocalBundleOnLoopClosure is true
2020-10-05 17:47:13 -04:00
matlabbe
bbccbd63e4
Increased version to 0.20.5
...
Refactored how features are stored in Signature (significative memory optimization, causing major refactoring in Memory, RegistrationVis, OdometryF2M)
FLANN: optimized memory usage when Kp/IncrementalFlann is false
Added memory usage functions
Added statistics Loop/Visual_inliers_ratio/ and Memory/RAM_estimated/MB
EpipolarGeometry: templated findPairs functions
graph::filterLinks: added inverted option
LocalBundleOnLoopClosure: Force to use only neighbor links
MainWindow: fixed max depth filtering for map's features
Rtabmap::getSignatureCopy() fixed links not returned
Added UPlot::getAllCurveDataAsText() function.
DbViewer: fixed features not rendered in right view when failing ro refine a constraint
report: added --export and --export_prefix options (to export figures data)
2020-10-05 17:34:32 -04:00
matlabbe
bedc771fa4
Rtabmap: added getNodesInRadius() public functions
2020-09-28 12:03:42 -04:00
matlabbe
933ac736f1
Increased version 0.20.4. Added parameter Kp/ByteToFloat (default true to use less memory with kdtree and binary descriptors). Memory/Sqlite3: Setting weight to -9 for invalid nodes (to make sure they are not reloaded from database, to fix a graph reduced issue). Added 12-SURF/FREAK detector approach. rtabmap-info: added number of nodes in each sessions.
2020-09-28 10:29:14 -04:00
matlabbe
c5158cade5
Fixed loop closure rejected if the camera on the robot changes orientation accordingly to base frame ( http://official-rtab-map-forum.67519.x6.nabble.com/Mapping-with-multiple-stereocameras-localization-with-multiple-monochrome-monocular-cameras-tp6647p6953.html ). The reason why that check was there was because ICP flipping 180 deg in some cases, but should be already detected with that commit 7a1cf84b08 (diff-b65a61c23197f7ff77a877f62b630b2cR283).
2020-09-27 14:38:36 -04:00
matlabbe
eef0a23b1b
Reprocess: added --skip option (to skip frames when reprocessing). Rtabmap: always save Loop/Map_id/ stat. UPlot: export NaN insted of NA for invalid values (compatible with octave). GraphViewer and ImageView: added support for PDF output format, also changed default directory to User's Pictures standard folder.
2020-09-21 19:32:48 -04:00
matlabbe
4e6e404951
Fixed "[Setjac] infinite jac" error when Vis/ForwardEstOnly is false. OptimizerG2O: Added a check to ignore invalid 3d points.
2020-09-15 15:18:49 -04:00
matlabbe
a24211583d
Rtabmap: init Bayes prediction when loading a database
2020-09-11 10:55:33 -04:00
matlabbe
bd80811ea1
Stats: added Loop/Distance_since_last_loc
2020-09-10 14:07:53 -04:00
matlabbe
cabf03af44
Memory: fixed keypoints3d wrongly copied when not using odom features
2020-09-08 21:24:47 -04:00
matlabbe
e0973fea92
CameraK4A: added imu support with playback. Fixed windows build error.
2020-09-04 14:10:32 -04:00
matlabbe
49cb470b8d
CameraK4A: refactored to unify playback and real device code. Fixed ir option (with rectification).
2020-09-04 12:48:18 -04:00
matlabbe
d2784095a3
Added K4A status on --version. About: added Mynteye status
2020-09-04 10:39:15 -04:00
matlabbe
23d8353540
Rtabmap::detectMoreLoopClosures, use optimized graph as guess if RGBD/ProximityOdomGuess is true. Reprocess: added options to generate scan from depth image and/or pre-process input scans.
2020-08-28 16:24:07 -04:00
matlabbe
24052a6ebe
fixed pcl::getAngle3D not found error on latest pcl version ( 6df3e602a7 (diff-8e08415b9972a447d115dbca3f8fa0a1))
2020-08-25 10:56:30 -04:00
matlabbe
775c9318d3
Fixed Too large rotation detected message
2020-08-21 15:57:28 -04:00
matlabbe
f263d560b4
OdomF2M: fixed complexity null for first scan is not having normals already
2020-08-21 14:32:08 -04:00
matlabbe
729f96f467
TORO: added warnings when prior or landmark links are detected
2020-08-21 11:26:22 -04:00
matlabbe
39f68c44c6
Recovery: set back database in mapping mode after being saved in localization mode
2020-08-03 13:46:42 -04:00
matlabbe
0a9d237ac2
0.20.3: CameraRealSense2: Fixed D435i accel/gyro profile selection to avoid crash. Fixed Integrated D415 fix ( #469 )
2020-08-01 20:29:47 -04:00
matlabbe
07d21e6b03
VINS update log: printf to UDEBUG
2020-07-30 12:34:58 -04:00
matlabbe
6741355842
Ignore invalid GPS values (NaN #570 )
2020-07-29 10:39:34 -04:00
matlabbe
169b79215d
Memory::computeIcpTransformMulti() added support for 3d scans with RGB channel (L515)
2020-07-08 13:43:28 -04:00
matlabbe
4a09c4bdcf
Odometry: fixed Reg/Force3DoF ignored if filters are not used
2020-07-08 10:03:54 -04:00
matlabbe
e800662bac
Fixed build with OpenCV >= 3.4.11
2020-07-02 16:29:23 -04:00
matlabbe
33e9abdfad
Mac: fixed crash when discarding a signature (not moving enough) with self refenced links. Fixed link error with realsense2 library on Mac.
2020-07-02 12:54:43 -04:00
matlabbe
cd10cafd0e
Windows: fixed CameraRealSense2 driver freezing on close.
2020-07-01 20:58:04 -04:00
matlabbe
736cf0efc7
Windows: fixed stamp now() issue
2020-07-01 16:53:57 -04:00
matlabbe
661a05b0da
CameraMyntEye: fixed M_PI not defined error
2020-06-30 23:36:12 -04:00
matlabbe
0809946c66
Windows: Fixed stereoRectifyFisheye.h 'cannot convert from cv::Mat to CvMat' compilation error with opencv >=3.4.4. Fixed k4a/k4atypes.h not found on guilib compilation.
2020-06-30 23:18:31 -04:00
matlabbe
542f06ec24
ARCore: features from arcore are used directly for keypoints
2020-06-29 15:08:24 -04:00
matlabbe
dacf724ea6
Rtabmap::addLink() support multi-session
2020-06-25 13:56:01 -04:00
matlabbe
274903dd63
Rtabmap::getSignatureCopy() added withWords and withGlobalDescriptors options
2020-06-22 22:56:25 -04:00
matlabbe
c19f81ac12
Memory::getNodeData() removing not wanted data if the node with all its data has been found in working memory.
2020-06-22 22:29:26 -04:00
matlabbe
846bd59d0b
Rtabmap::addLink() removed an error log that is actually a debug log.
2020-06-22 21:53:22 -04:00
matlabbe
6e1f07e097
CameraK4A: fixed IMU local transform, fixed some compilation warnings.
2020-06-22 19:42:55 -04:00
matlabbe
c5ec4f337b
util3d::segmentObstaclesFromGround() fixed no ground returned if maximum ground height is set and the biggest plane was not under that height (e.g., ceiling having more points than ground)
2020-06-18 21:30:43 -04:00
matlabbe
554b08256b
Statistics: Added Odometry_correction_acc_*
2020-06-18 14:47:00 -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
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
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
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
