i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-08 12:30:20 +08:00
Code Issues Packages Projects Releases Wiki Activity
2,997 Commits 30 Branches 163 Tags
6e8f43916c340159fc45438e0a51610c8a70da28
Commit Graph
100 Commits
This Branch
This Branch
All Branches
Author SHA1 Message Date
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
matlabbe d35193721b report tool: option --loc can be used without a number. 2022-04-01 13:53:32 -04:00
matlabbe e46af2c3cd DbViewer: Added GroundTruth pose in node info labels 2022-03-31 12:00:52 -04:00
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