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
mathieu86
bc42bc3520
Added Kp/ByteToFloat parameter to odom parameters
2022-06-09 10:51:08 -07:00
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
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
dc58266eda
ORBSLAM2: fixed build
2022-04-10 19:42:15 -04:00
matlabbe
4321c3040a
CameraDepthAI: fixed imu transform and depth mode with latest depthai-core version
2022-03-06 22:25:01 -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
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
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
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
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
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
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
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
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
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
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
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
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
b2f13c2772
android: fixed g2o seg fault (CACHE_SE3_OFFSET not registered)
2022-01-02 23:30:55 -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
