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
matlabbe
c99203bbed
CMake: added explicit opencv modules to avoid VTK6-VTK7 issues on Focal (vtk6 dependency coming with opencv_viz 4.2 module and vtk7 coming from PCL)
2022-02-01 13:40:02 -05:00
matlabbe
20d873c29e
android: fixed backward compatibility target folder for android <30. Open: files are sorted by last modified date.
2022-01-30 15:47:08 -05:00
matlabbe
4d8c1d8b90
bump 0.20.18
2022-01-28 17:12:24 -05:00
matlabbe
315350dbfc
CCCorelib: updated wrong output check. Updated RGBD/MaxOdomCacheSize approach to work properly with Rtabmap/CreateIntermediateNodes=true.
2022-01-28 14:48:32 -05:00
matlabbe
02140f92db
fixed build
2022-01-27 22:55:59 -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
a8e5bbf415
export: added --texture_roi_ratios option
2022-01-26 20:12:04 -05:00
matlabbe
5b3a7d5674
Localization: fixed always rejected localization when proximity and global loop closures are both detected at the same time at two different locations (clearing proximity detections from odometry cache if global loop closures are good).
2022-01-26 15:39:09 -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
3c215b9b4d
android: fixed driver preference for arcore
2022-01-20 10:57:39 -05:00
matlabbe
bdaed2f362
Tango: fixed google tango driver not selected automatically on first use
2022-01-19 20:24:23 -05:00
matlabbe
e048d8ae72
Fixed compilation error without octomap
2022-01-19 19:53:49 -05:00
matlabbe
5b868d665f
Grid/Sensor=2: fixed viewpoint offset bug of the camera.
2022-01-19 19:27:32 -05:00
matlabbe
a56373f66d
GUI/ExportClouds: fixed color of scans having RGB instead of intensity.
2022-01-19 16:59:43 -05:00
matlabbe
5ec73bee8d
ios: improved significantly rendering performance
2022-01-19 02:11:38 -05:00
matlabbe
b1dd44526d
ios: fixed background camera not shown in landscape mode (iPhone)
2022-01-17 22:06:35 -05:00
matlabbe
de62bbb9b7
Grid: don't filter max range before doing ray tracing (to ray trace empty space).
2022-01-17 14:22:11 -05:00
matlabbe
7a5c50cb0e
Fixed compilation warnings
2022-01-16 15:27:52 -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
5f55f63443
report: ignoring landmarks after optimization to avoid errors when exporting poses
2022-01-15 22:02:45 -05:00
matlabbe
aa0e6ef692
GUI:Export Poses: fixed poses!=stamps issue when there are landmarks (landmarks now only exported with g2o format)
2022-01-15 21:49:40 -05:00
matlabbe
03a106ea36
Fixed build without g2o
2022-01-15 13:00:12 -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
51f6b32f47
Fixed windows build ( https://ci.appveyor.com/project/matlabbe/rtabmap/builds/42207812 )
2022-01-14 14:33:32 -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
49353b134c
LaserScan: fixed destination format when source is empty with operator+
2022-01-11 15:32:30 -05:00
matlabbe
ab50ba0b6c
Fixed android30
2022-01-05 21:39:27 -05:00
matlabbe
528b640a18
workflows: added android30 docker image
2022-01-04 20:54:53 -05:00
matlabbe
4d8a7b4659
CameraTango: fixed opencv4 errors
2022-01-04 20:49:03 +00:00
matlabbe
ba6575fcb9
Added android30 build
2022-01-04 14:55:32 -05:00
matlabbe
1173f06bc8
android: fixed opencv4 deprecated errors
2022-01-04 19:46:20 +00:00
matlabbe
a08fce2068
ios: added requestReview()
2022-01-03 20:57:41 -05:00
matlabbe
d8324a11d5
android: fixed sharing file exiting bug, fixed camera not correctly set back to device default on reset settings.
2022-01-03 17:51:23 -05:00
matlabbe
a6c9b3babe
💄 changed some cmake warnings in info
2022-01-03 16:33:21 -05:00
matlabbe
145430cafd
Fixed noetic build (g2o error)
2022-01-03 16:05:11 -05:00
matlabbe
5194f40794
Fixed g2o build error with melodic/noetic versions
2022-01-03 15:37:06 -05:00
matlabbe
129bbf8f98
ios: added placeholder R in Library view for db not having preview (like recovered database)
2022-01-03 13:44:29 -05:00
matlabbe
a9d4a16ba4
bump ios version 0.20.17
2022-01-02 23:40:46 -05:00
matlabbe
b2f13c2772
android: fixed g2o seg fault (CACHE_SE3_OFFSET not registered)
2022-01-02 23:30:55 -05:00
matlabbe
f3ace6c86a
Added recovery feature to android
2022-01-02 18:09:57 -05:00
matlabbe
3147b4ab56
ios: added recovery feature
2022-01-02 17:08:44 -05:00
matlabbe
fcde52c6bf
ios: set First-P. View by default
2021-12-30 15:37:46 -05:00
matlabbe
5b31a4725d
Update README.md
2021-12-29 19:05:35 -05:00
matlabbe
e4955ee386
GUI: fixed mynteye raw images support error
2021-12-29 16:12:02 -05:00
matlabbe
e5b4973ddc
GUI: Added Orbbec Astra icon
2021-12-29 15:53:40 -05:00
matlabbe
f3095a2e0a
Calibration dialog: fixed right panel width size. Win32: packaging missing cudnn dlls (when torch is used)
2021-12-29 15:13:13 -05:00
matlabbe
044145926f
ios: incremented build number
2021-12-28 18:35:55 -05:00
matlabbe
a3823594a4
Converted an assert to an error.
2021-12-26 14:53:22 -05:00
matlabbe
3071da42f3
Optimizer: don't fix roll/pitch on root node if gravity constraints are fed
2021-12-25 16:57:03 -05:00
matlabbe
93ee8f9b30
Working dir path: convert ~ to Home for convenience. Localization: don't show "cannot optimize" warning when RGBD/MaxOdomCacheSize=0
2021-12-24 18:24:44 -05:00
matlabbe
7ca881453e
RGBD/StartAtOrigin: set first node of the graph, not Identity
2021-12-20 17:01:08 -05:00
matlabbe
8662eb0dd7
Statistics: added OdomCache data for debugging
2021-12-18 18:53:59 -05:00
matlabbe
33130890fd
Localization: Improved resulting pose in case there are gravity constraints. iOS: clear odom trace when not visible, fixed opt mesh not correctly aligned with graph on loading when switching RGBD/OptimizeFromGraphEnd.
2021-12-18 15:37:49 -05:00
matlabbe
bca8b30832
Localization 2d Slam: automatically rotate landmark links to have z-axis up for correct 3DoF optimization. When RGBD/MaxOdomCacheSize is used, wait for at least 2 temporal localizations before adjusting the pose (to avoid big jumps when only one constraint is used).
2021-12-17 11:00:37 -05:00
matlabbe
6eb81cbb72
Added RGBD/MaxOdomCacheSize option to iOS App.
2021-12-12 20:40:28 -05:00
matlabbe
0e62050824
rtabmap: fixed graph re-optimized with only virtual links in localization mode (which can make gtsam crash because of under constrained covariance)
2021-12-12 13:07:02 -05:00
matlabbe
cf5e90238b
Statistics: added LoopOdom_correction stats for landmark detections.
2021-12-10 21:58:11 -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
4ab0090ecd
Support feature-only rectification when using external extracted features.
2021-12-06 09:26:10 -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
12906f4490
DBViewer: export poses: added explicit otion for ground truth if available
2021-12-03 13:43:53 -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
67710ef94c
Export: optimized camera projection RAM usage. Added --texture_angle and --cam_projection_decimation options.
2021-11-21 17:10:57 -05:00
matlabbe
090ae0c444
DbViewer: added option to show disparity instead of right image in main views for stereo data
2021-11-20 16:36:54 -05:00
matlabbe
6684bafe34
fixed typo
2021-11-16 18:22:45 -05:00
matlabbe
5fcbe2ed70
iOS: fixed install script ( #785 #741 )
2021-11-16 18:11:40 -05:00
matlabbe
459c7b2bd7
Export: added --min_cluster option.
2021-11-16 11:58:55 -05:00
matlabbe
9ae2c46546
CMake: fixed build without Python and Ceres if WITH_PYTHON and WITH_CERES are OFF (even if found by third party libraries, related to #783 ).
2021-11-15 18:00:17 -05:00
matlabbe
7af2a27e89
Improved log error when ROI is set with SuperPoint ( https://github.com/introlab/rtabmap_ros/issues/676 )
2021-11-14 20:26:42 -05:00
matlabbe
dbecaac809
Moved bin dir inside build directory ( #784 )
...
* 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
4ba805b5b3
Report: fixed landmarks not used during optimization. Reprocess: added --nolandmark option to ignore landmarks in input database.
2021-11-12 12:47:54 -05:00
matlabbe