matlabbe
c49785061f
Added PyDetector ( #677 )
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* Added PyDetector. Refactored PyMatcher.
* Fixed python freezing with multi-threading
2021-01-17 01:56:27 -05:00
matlabbe
0bc483b6d3
Added pdal optional dependency (export to LAS, E57, ...)
2021-01-14 15:49:18 -05:00
matlabbe
1a967127d9
Bump 0.20.8 version. Parameters: updated default of Vis/CorGuessWinSize=40 (was 20), GFTT/MinDistance=7 (was 3), Optimizer/GravitySigma=0.3 if built with g2o or gtsam. Those parameters help for smooth tracking on latest sensors with higher resolution and use IMU by default if available. Updated docker jfr2018 to use original parameters. CameraStereoZed: wait for imu to be available before sending frames (Zed-m and Zed2).
2021-01-08 13:04:24 -05:00
matlabbe
792c967d46
MainWindow: added driver options to differentiate between cameras having IMU or not (D400 vs D435i, ZED vs Zedm and Zed2). Enabled imu filtering by default for Freenect driver (Kinect XBOX360).
2021-01-08 01:10:23 -05:00
matlabbe
a67dbc26f2
L515 refactoring (realsense v2.41.0, firmware 1.5.3): added IR-only mode support, fixed support with latest firmware, T265+L515 working, related to #574 #614 #629 . MainWindow: Selecting RealSense2, ZED sdk, K4A, Mynteye drivers automatically enable gravity optimization (with IMU filtering).
2021-01-08 00:01:08 -05:00
matlabbe
d8ebbc2645
CameraK4A: rectifying color image (this improves a lot visual odometry accuracy)
2020-12-13 15:27:17 -05:00
matlabbe
d700d09339
DataRecorder tool: interface changed to use config file ( #661 )
2020-12-13 12:42:58 -05:00
matlabbe
7a5d04062d
vtk8: disabled vtkOutputWindow
2020-12-11 17:05:37 -05:00
matlabbe
049238dd59
Gui: added L515 icon
2020-12-11 09:56:17 -05:00
matlabbe
3131474102
Added Db/TargetVersion parameter ( #652 )
2020-12-03 15:45:40 -05:00
matlabbe
3ffc8ce73f
DBViewer: enabled Reject button on landmark links
2020-11-30 23:17:47 -05:00
matlabbe
ee44adeb1f
fixed #648 (build error without OctoMap dependency)
2020-11-30 12:33:08 -05:00
matlabbe
0022b6b993
ExportCloudsDialog: added colormap option when showing scans
2020-11-28 18:02:54 -05:00
matlabbe
d733029565
Increased version to 0.20.7. OdometryF2M: added support for intensity field, removed ignored key frames when there is low scan complexity. RegistrationIcp: added Icp/PMMatcherIntensity, Icp/PointToPlaneGroundNormalsUp and Icp/PointToPlaneLowComplexityStrategy parameters. Rtabmap: when graph optimized from end, increased optimization error before warning that resulting map correction is not identity (this could happen with GTSAM as the root is not perfectly fixed). CloudViewer: added coordinate frame scaling option, added rainbow colormap option for scan intensity. DBViewer: fixed local proximity merged scans not shown modified after refining those links, show intensity, fixed constraints view not updated after rejecting a link. MainWindow: added intesity support with odometry scans.
2020-11-28 17:28:34 -05:00
matlabbe
80199f23b5
RegIcp: complexity, checking if second eigen value is also under Icp/PointToPlaneMinComplexity to limit to only one axis. DbViewer: fixed refine link with scans having RGB channel.
2020-11-22 19:32:01 -05:00
matlabbe
e4cb59b74d
Added suggestion from https://github.com/introlab/rtabmap/issues/614#issuecomment-731769818
2020-11-22 12:32:39 -05:00
matlabbe
98a499b603
Optimizer: fall back on g2o or gtsam first if one or the other is not available (instead of going TORO). ExportClouds: added ceiling and floor filtering options.
2020-11-22 01:23:08 -05:00
matlabbe
f5d7dc2814
PreferencesDialog: Added Marker/MaxRange and Marker/MinRange parameters to UI.
2020-11-21 17:23:41 -05:00
matlabbe
ccbdb586da
DbViewer: Added datbabase path to window title
2020-11-21 16:37:40 -05:00
matlabbe
7c4d2bbdf4
DbViewer: before resetting all changes, added a confirmation message box!
2020-11-21 16:15:27 -05:00
matlabbe
fb206b4f1e
DbViewer: fixed scan disappearing after editing constraint
2020-11-21 14:35:29 -05:00
matlabbe
54e2688a1d
Fixed build with pcl > 1.11.1 ( #641 )
2020-11-14 16:52:01 -05:00
matlabbe
01eb57f293
CameraImages: added configForEachFrame option (added to GUI too). CameraThread: for decimation, if depth is smaller than RGB, RGB is decimated first and if the resulting RGB image is smaller than the original depth, we then decimate the depth.
2020-11-14 13:39:12 -05:00
matlabbe
7be22d1b67
Added check to make sure input odometry poses are invertible. Source/DB: added stereo to depth option.
2020-11-06 21:37:59 -05:00
matlabbe
e7a2f206a0
Gui: fixed warning scan not found when uncompressing data. Don't disable Mem/UseOdomFeatures checkbox anymore in monitoring mode (ROS).
2020-11-05 15:50:05 -05:00
matlabbe
92b1dabf1c
MainWindow: avoid uncompressing images/scans if they are not shown
2020-11-03 16:12:43 -05:00
matlabbe
e269067d4c
Texturing: add distanceToCamPolicy option
2020-11-03 16:11:37 -05:00
matlabbe
6a730b51c7
GUI-Preferences: disabled Daisy feature option on OpenCV 2
2020-11-01 13:01:23 -05:00
matlabbe
99275fba1d
Added Daisy descriptor. ORB: updated default parameters. Making ORBOctree using ORB parameters. Updated Vis/CorNNDR default from 0.6 to 0.8 (increase number of matches with binary descriptors, increase slightly feature matching time with float descriptors). Note that jfr2018 scripts have been updated to use old value 0.6. rtabmap-info: show descriptor dimension and type.
2020-11-01 11:28:59 -05:00
matlabbe
25c2a51ee3
fixed windows build
2020-10-29 18:03:36 -04:00
matlabbe
f71f00277c
DbViewer::AddConstraint: don't ask ofr manual constraint if already aborted previous question (when Reg/Strategy=1).
2020-10-12 17:41:06 -04:00
matlabbe
0e5ec91280
DbViewer: added option to ignore landmarks. Show landmark id in Constraints View.
2020-10-12 15:29:20 -04:00
matlabbe
d5572d03ad
DbViewer: added checkbox to enable Add for nodes not linked to graph
2020-10-09 12:15:33 -04:00
matlabbe
6d552b7873
DbViewer: fixed depth of features not shown
2020-10-09 11:10:48 -04:00
matlabbe
2cb509c825
DbViewer: manual constraints can now be added ( http://official-rtab-map-forum.67519.x6.nabble.com/Manually-adding-modifying-node-constraints-td6983.html )
2020-10-07 15:41:13 -04:00
matlabbe
bbccbd63e4
Increased version to 0.20.5
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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
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
3d33370e4c
DbViewer: fixed error log when showing landmarks in Constraints view.
2020-09-15 17:12:00 -04:00
matlabbe
d50b33a7b8
Preferences: updated warnings for free sift ( #596 )
2020-09-10 17:56:49 -04:00
matlabbe
f93cdc31a6
Gui/source/K4A: added more description
2020-09-04 15:12:05 -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
1db17dd118
rtabmap-report: added loc_delay option. Db info: added unused space
2020-09-03 15:23:48 -04:00
matlabbe
e800662bac
Fixed build with OpenCV >= 3.4.11
2020-07-02 16:29:23 -04:00
matlabbe
8fa216bd9d
Fixed default odom gravity sigma value to -1. Preferences: set 720p by default for K4A driver
2020-07-01 14:04:19 -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
6e1f07e097
CameraK4A: fixed IMU local transform, fixed some compilation warnings.
2020-06-22 19:42:55 -04:00
matlabbe
1ca2c25a10
DbViewer: fixed empty from scan when refining proximity link by space
2020-06-22 13:07:27 -04:00
matlabbe