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934 Commits

Author SHA1 Message Date
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
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
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
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
5194f40794 Fixed g2o build error with melodic/noetic versions 2022-01-03 15:37:06 -05:00
matlabbe
8662eb0dd7 Statistics: added OdomCache data for debugging 2021-12-18 18:53:59 -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
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
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
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
ddd5eb5a41 CameraRealSense2: Odom extrinsics against another sensor can be calibrated with having to calibrate stereo first. DBViewer: fixed local grid wrongly using global grid parameters. 2021-11-05 18:05:50 -04:00
matlabbe
7c5acd8970 Parameters: Changed Grid/FromDepth to Grid/Sensor to add a new choice to use both scan and depth for local grids. Increased version to 0.20.15. 2021-10-29 20:05:12 -04:00
matlabbe
8c56b5b1ce CMake: added WITH_OPENMP option (to be able to disable it). CameraOpenNI2: Added depth decimation parameter. CLAMS: can apply distortion model to smaller images. 2021-09-24 17:31:16 -04:00
matlabbe
5f65618d40 Added OdomLOAM/Resolution parameter 2021-09-22 10:48:59 -04:00
matlabbe
14b56813d3 Updated for AliceVision >=2.4.0 compatibility. Export: added --multiband_contrib option. 2021-09-19 20:20:45 -04:00
matlabbe
a901f20d06 0.20.14: added globalBundleAdjustment CLI, added Rtabmap/Memory::cleanupLocalGrids function, init with optimizedPoses from db even in mapping mode, reprocess: added -db option to save optimized 2d grid in database. 2021-09-11 11:35:43 -04:00
matlabbe
3ba02d2ef6 Added OdometryFLOAM (Odom/Strategy=11) 2021-09-09 17:38:54 -04:00
matlabbe
20361400e1 export: output intensity channel with RGB when --cam_projection and --scan options are set (PDAL required) 2021-09-07 15:57:23 -04:00
matlabbe
ed68fe777b Added more options for multiband texturing 2021-08-16 13:14:02 -04:00
matlabbe
138d4aa1be If RGBD/LoopClosureReextractFeatures=true, don't save raw features (3d point, descriptor) to Feature table. 2021-07-28 14:32:32 -04:00
matlabbe
32bf0f9d61 Fixed CameraDepthAI with latest depthai version (using now camera eeprom calibration and added imu support) 2021-07-28 14:19:30 -04:00
matlabbe
05d45872f3 DBReader: publish landmarks by default (also added option to ignore them) 2021-06-29 16:03:21 -04:00
matlabbe
3da4bb9faa For Icp/DebugExportFormat and RGBD/ProximityGlobalScanMap, use Rtabmap/WorkingDirectory as output directory for debugging files. 2021-06-27 20:37:42 -04:00
matlabbe
a921d615c5 0.20.13: templated laserScanFromPointCloud() version with PCLPointCloud2 to be also used with sensor_msgs/PointCloud2 class (for rtabmap_ros). 2021-06-27 20:07:00 -04:00
matlabbe
2b9ae3a2ad Added Icp/DebugExportFormat parameter 2021-06-26 16:06:25 -04:00
matlabbe
350f995ee9 merged master to scan_map branch 2021-06-25 16:38:03 -04:00
matlabbe
eabf3e3d57 Decimation parameters for feature detection cannot be negative anymore (always done based to RGB image and depth image is decimated only if it is bigger than decimated rgb image). MainWindow: fixed light blue screen-only on full rehearsal merge. 2021-06-25 12:54:52 -04:00
matlabbe
48ebf969bd OdometryInfo: fixed IcpRMS not copied in copyWithoutData() 2021-06-24 22:38:19 -04:00
matlabbe
11e9837b82 Added RGBD/ProximityGlobalScanMap for proximity detection using the whole scan map in localization mode. Added Icp RMS statistics (CCCorelib). Updated how localization is corrected with gravity when available (simply use roll and pitch of current gravity constraint). 2021-06-23 17:13:07 -04:00
matlabbe
5167927d01 report: added --ignore_inter_nodes option. CloudViewer: set max absolute scan intensity to 100 (was 0=auto). reprocess/replay db: ignore intermediate nodes if Rtabmap/CreateIntermediateNodes is false. 2021-06-21 17:23:53 -04:00
matlabbe
6342658ec5 iOS: fixed origin when we do New Scan while we were already mapping, improved FPV feedback in point cloud mode, showing camera overlay in visualization mode (pinch out to disable). Localization mode: Updated how marker detection transform are modified by gravity constraints. 2021-06-12 12:42:56 -04:00
matlabbe
289d4afd76 ios first release 2021-06-08 00:06:49 -04:00
matlabbe
630cb6a59f Odometry: when "Rtabmap/ImagesAlreadyRectified" is false and odometry strategy doesn't support raw images, added rectification for RGB-D data (only rgb rectified though) for convenience. 2021-06-01 14:33:17 -04:00
chameau5050
f94f9cbb9b improve flood fill and move it to update function (#727) 
* add flood fill filter

* change to use unordoned_multiset

* remove recursivity in flood fill and move the flood fill into the update

* Refactoring of OctoMap constructors (keeping only one). Simplified floodfill parameters to only one and added it to UI.

* Fixed ray tracing not done in local 3D maps (OctoMap)

Co-authored-by: MarcLeclercGit <marcantoine.leclerc96@gmail.com>
Co-authored-by: matlabbe <matlabbe@gmail.com>
 2021-05-30 10:12:07 -04:00
matlabbe
8b1b874bf3 Statistics: added LoopOptimization_max_ang_error stats 2021-05-27 13:00:29 -04:00
matlabbe
ada3e75005 Camera class: localTransform parameter should not have optical rotation anymore (it is added afterwards in the constructor). OdomSensor: the extrinsics should not contain optical rotation anymore. These 2 changes make it more convenient to set transfomation parameters in the UI. MainWindow::createCamera() now has odomSensor argument for convenience (for inherited classes to set both camera and odom sensor in the same function). 2021-05-26 13:40:46 -04:00
matlabbe
21dbeed4b7 Odom sensor option (#726) 
* Added Odom Sensor option

* Odom Sensor: Added pose time offset parameter

* Gui: fixed odom cloud not shown when rgb/depth doesn't have same size. Odom sensor: fixed rawImages set on non-stereo camera (because stereoRectify wrongly set to all cameras)

* Calibration: fixed rgb and depth suffixes not correctly set. OpenNI2: horizontal and vertical shifts can be also set for default calib.

* Fixed a warning

* OdomSensor: added option to use odom sensor output as ground truth (for comparison between odom sensor and rtabmap odom). Added scale factor option.

* FindG2O.cmake: updated path suffixes to find EXTERNAL csparse

* Pose3GravityFactor: fixed dllimport error on windows

* UI: Statistics panel not updated if not visible and keep stats in cache is unchecked. Added description to some timing debug logs in processStatistics().

* Removed vtkOutputWindow on Windows

* Odom Sensor: added zed sdk support

* bump version 0.20.11
 2021-05-23 17:21:12 -04:00
matlabbe
854a52c6a5 Export CLI: added noise_radius and noise_k options to filter noise 2021-05-10 14:45:35 -04:00
chameau5050
b4f11e18f3 add flood fill filter (#714) 
* add flood fill filter

* change to use unordoned_multiset

Co-authored-by: MarcLeclercGit <marcantoine.leclerc96@gmail.com>
 2021-05-07 17:05:01 -04:00
matlabbe
2fcef88016 Export: added --poses_format option (default 10=RGBD-SLAM format). Added new pose format 11=RGBD-SLAM + ID. 2021-04-13 15:49:04 -04:00
matlabbe
4c1e72d82e Added OpenVINS minimal support (tested with EuRoC dataset) 2021-03-28 23:51:02 -04:00
matlabbe
69735b6271 Added removeNaNFromPointCloud for PCLPointCloud2 type 2021-03-28 00:15:47 -04:00
matlabbe
06e85e140c Refactored RegistrationIcp: libpointmatcher yaml config usage / integrated CCCoreLib (#704) 
* Refactored RegistrationIcp so that libpointmatcher yaml can work with icp odometry (we can then avoid refiltering data with local map of F2M). All data filtering (including libpointmatcher DataFilters) are done at the beginning of the function.

* ICP: Restored ref and data scans order for libpointmatcher (seems more stable this way).

* Fixed compilation error without libpointmatcher

* CCCoreLib integration (Icp/Strategy=2). Icp/PMForce4DoF is now Icp/Force4DoF. Icp/PM is now Icp/Strategy. Icp/PMOutlierRatio is now Icp/OutlierRatio.

* Fixed build without CCCoreLib

* Cleanup RegistrationIcp from third party functions.

* Preferences: disable libpointmatcher and cccorlib options if not available
 2021-03-27 15:11:20 -04:00
matlabbe
21737f9937 Added description fo RGBD/Enabled parameter 2021-03-17 23:58:12 -04:00