matlabbe
467dc738c7
Fixed deprecated warning not set to right function
2022-12-05 20:32:53 -08:00
matlabbe
8a8c360f89
fixed compilation warning
2022-11-27 16:20:56 -08:00
matlabbe
83693ed1b9
detectMoreLoopClosures: fixed guess not set for lidar-only registration ( https://github.com/introlab/rtabmap_ros/issues/727 )
2022-11-26 20:24:43 -08:00
matlabbe
860c14e0ec
rtabmap: fixed export poses in format 10 and 11 ( #883 )
2022-11-26 12:42:04 -08:00
matlabbe
85bc1ee27f
GTSAM: return empty optimized poses in case of exception or error. g2o: don't assert on marginal not computed, log error and reutn empty optimized poses.
2022-11-22 12:26:02 -08:00
matlabbe
6d713c2ccb
uNumberToStr(double): added "fixed" param (default false) to fix ros param double/int conversion issue.
2022-11-11 16:20:59 -08:00
matlabbe
c9d50ef445
Export GPS poses: set 8 decimals (1 mm accuracy) https://github.com/introlab/rtabmap_ros/issues/833
2022-11-02 11:35:54 -07:00
matlabbe
69214b927a
fixed android build
2022-10-30 14:47:34 -07:00
matlabbe
86f66cc8b8
Added missing signature info in republished data
2022-10-30 13:59:08 -07:00
matlabbe
1297714271
Bump version 0.20.22. Refactored RtabmapThread commands handling. MainWindow/RtabmapThread/Statistics/UVariant: added new option to republish missing data on GUI side. MainWindow: fixed 1 sec lag when waypoints are used. Parameters: added Rtabmap/MaxRepublished (moved from rtabmap_ros). OccupancyGrid: fixed ground cells ignored if there are empty cells, also don't add pose in addedNodes if corresponding node was not in cache.
2022-10-28 12:25:48 -07:00
matlabbe
df888962f4
depthai: fixed app freezing if oakd device (oak-d lite) doesn't have imu and imu is requested.
2022-10-24 11:13:27 -07:00
matlabbe
769ace86ce
Added oak-d lite menu option (depthai: imu is now optionnal)
2022-10-23 18:15:23 -07:00
matlabbe
6e8f43916c
floam: republish input scan with features
2022-10-16 21:31:43 -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
30bf5895ca
Fixed #909
2022-09-30 14:17:23 -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
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
matlabbe
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
749cd096ff
Fixed map::at() seg fault when localizing on a database with multiple disjoint sessions
2022-09-13 06:19:23 +00:00
matlabbe
0dc5fbdd70
fixed #873
2022-09-06 16:19:20 -07:00
Windel Bouwman
8826f136a9
Use imported target for res_tool during cross compilation. ( #865 )
2022-09-04 13:18:14 -04:00
matlabbe
8cd4a6feff
OdomF2M: fixed lidar-only broken from commit 9797918d52
2022-07-28 11:48:55 -04:00
matlabbe
9797918d52
fixed https://github.com/introlab/rtabmap_ros/issues/790
2022-07-27 10:15:21 -04:00
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 )
...
* 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
