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Author SHA1 Message Date
matlabbe 7d377d26df Added Rtabmap::getSignatureCopy() 2020-05-05 13:26:40 -04:00
matlabbe 7041d5fd34 Fixed #541 2020-05-03 22:59:35 -04:00
matlabbe c19da22ca4 0.20: added GlobalDescriptor table in database 2020-05-03 21:46:25 -04:00
matlabbe 50c3bb7ce9 fixed #540 2020-05-03 14:05:14 -04:00
matlabbe 0a4d0038cb Preferences dialog: fixed missing Vis/CorCrossCheck checkbox 2020-05-02 11:03:17 -04:00
matlabbe d14efea4ac Added Vis/CorCrossCheck parameter (to use BFMatcher with crosscheck option instead of knn with NNDR for features matching). DBViewer: after refine or add constraint, lines indicating feature correspondences are now shown with different color if they are inliers. Re-enabled saving/loading settings of the ImageViews (feature color, line color, transparency...). 2020-05-01 22:12:56 -04:00
matlabbe 45223b306a Increased SPTorch/Threshold decimals for more fine tuning in DBViewer 2020-05-01 19:59:28 -04:00
matlabbe 3e9cff4053 fixed build with opencv 4.3 2020-05-01 09:51:54 -04:00
matlabbe 46886f2637 Report: added invert and ids options. Reprocess: show node id along map id when processing. 2020-04-30 17:00:09 -04:00
matlabbe 40804d9120 Statistics: added x,y,z map corrections. Report: added options --stats to show available statistics to plot in a database 2020-04-30 15:48:47 -04:00
matlabbe 803c99cee2 RegVis: fixed Vis/MaxDepth and Vis/MinDepth ignored when features are already extracted. 2020-04-30 15:07:32 -04:00
matlabbe 5d16ae8cfe DBViewer: fixed calibration not found on refining without re-extracting features, fixed visualized ids switched on refine in some cases, fixed clouds not shown in constraints view after refine without re-extracting features 2020-04-30 14:17:46 -04:00
matlabbe ace93b0356 GUI: check mynteye when selected 2020-04-30 01:00:17 -04:00
matlabbe 14ec619b1e Added MYNT EYE S support. Fixed StereoCameraModel rectification not done with non-square images, also updated to support fisheye model. 2020-04-30 00:57:47 -04:00
matlabbe b3eee0d7bf android: fixed yuv conversion bug on some devices, updated default driver based on which one is available and built with it. 2020-04-29 12:18:02 -04:00
matlabbe 37e0860b0c android: Fixed upload button not visible in Sketchfab activity, webview can be canceled 2020-04-27 17:35:06 -04:00
matlabbe be57c2752d Fixed gravity links not added for optimization when both prior and gravity links are added to same nodes 2020-04-26 23:45:32 -04:00
matlabbe 1a3c90e898 cleanup some debug logs 2020-04-26 14:57:27 -04:00
matlabbe 06482d2378 ARCore: when tof camera is not available, use arcore point cloud as keypoints 2020-04-26 14:48:48 -04:00
matlabbe 3abdd22031 android: fixed state locked in processing after saving 2020-04-26 09:40:50 -04:00
matlabbe 66fca15cc6 Added rtabmap-info console tool 2020-04-24 13:45:41 -04:00
matlabbe 0c04b77cd7 Android: simplified default workflow (open -> scan -> optimize/export -> save) 2020-04-24 09:22:14 -04:00
matlabbe 6bb6178ae5 android: fixed Resume disabled when returning from Visualization 2020-04-24 08:23:17 -04:00
matlabbe 4ad92f0261 Docker: fixed android-## cloning branch 2020-04-24 07:33:48 -04:00
matlabbe bc8d811f69 Dictionary: fixed L2SQR format for GPU BF 2020-04-23 22:56:42 -04:00
matlabbe e8be3f21fa SuperPoint: fixed nms bug 2020-04-23 20:06:48 -04:00
matlabbe 31e5f7804e DbViewer: set horizontal layout by default 2020-04-23 15:27:31 -04:00
matlabbe 9b54aeee22 Android: set estimation type to default PnP 2020-04-23 15:13:58 -04:00
matlabbe 00d8375a2e RGBD/SavedLocalizationIgnored: if true, it is now starting at the origin (0,0,0) instead of null (not linked to graph). 2020-04-23 11:57:01 -04:00
matlabbe 046e0b7888 updated xenial tango docker file 2020-04-23 08:08:57 -04:00
matlabbe 35074f6d9f DBViewer: fixed missing parameter groups in Core Parameters. MainWindow: disabled frames by default. 2020-04-22 18:30:42 -04:00
matlabbe 94360e19e0 DBReader: changed maxFrames option to stopId and startIndex to startId. Reprocess: added options to start and stop at specific ids in the database. 2020-04-22 16:20:29 -04:00
matlabbe 012439aa0b Tango refactoring (#534) 
* Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving).

* Working android app on non-tango android phones (tested on x86_64 android emulator).

* fixed typo

* android: updated tango not available msg

* android: fixed build with latest android sdk/ndk

* Added ARCore limited support for pose and rgb streams.

* Added AREngine support. Don't assert if depth size is not a modulo of rgb size.

* Added ARCore shared camera support

* android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue)

* ARCore NDK: mapping with feature point cloud

* android: Added post build strip command to reduce native library size

* android: fixed some compilation issues

* android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters

* AREngine: min api 24

* android: Fixed build without AREngine

* android: fixed not available libraries for API<24

* android: fixed build with old cmake versions

* android: set arcore min api to 23

* android: fixed arengine error on start when not built with native arengine support

* android: fixed tango camera permission for api>=23

* Added bionic android docker files

* Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size

* CameraMobile: added exact display rotation for local transform

* DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label

* Android: fixed localization mode in visualization, fixed some tansitions between some UI states

* Android: Hide stop button when HUD is hidden. Updated About years.
 2020-04-22 15:05:07 -04:00
matlabbe 931d525874 Fixed build on kinetic (octomap version issue #529) 2020-04-20 09:58:00 -04:00
matlabbe 7cfc51315d CMake: find octomap instead of OCTOMAP #529 2020-04-18 16:03:09 -04:00
matlabbe de4b17332d Preferences: fixed some not clickable external links 2020-04-17 16:06:56 -04:00
matlabbe 6074e84653 Fixed compilation issues with libtorch 1.4.0 2020-04-17 08:32:44 -04:00
matlabbe f575652456 0.19.7: added SuperPoint Torch feature support. RegVis: keep Feature2D detectors as class members instead of recreating them at each registration. 2020-04-16 17:59:45 -04:00
matlabbe 2ff582f06f DbViewer: fixed refineConstraints to make sure from id is the smallest id. Fixed correspondence lines drawn when images don't have the same size. 2020-04-15 14:54:36 -04:00
matlabbe de354b901d RegInfo: added icpStructuralDistribution info 2020-04-14 17:06:53 -04:00
matlabbe 607dc67135 IMU: removing yaw from local imu transform when creating gravity links 2020-04-10 19:24:45 -04:00
matlabbe d6269bb5d6 GUI: changed TF link colors from yellow to orange (as yellow already used for gravity) 2020-04-10 13:40:59 -04:00
matlabbe 43df2a05da OdomF2M: fixed roll/pitch ignored in imu local transform 2020-04-09 19:22:57 -04:00
matlabbe 1b4b1c2832 Report: add compilation when qt is not used 2020-04-09 11:00:42 -04:00
matlabbe 18ff5bb410 OdomF2M/Icp: fixed substracting points when normals are not used 2020-04-09 09:59:22 -04:00
matlabbe c0313a6d09 GUI/Source: color only option now also available for stereo cameras (meaning only left frame published). Db: fixed non-valid 3d words saved when no ones were in the signature (on loading, we don't set words3 if they are all null). 2020-04-08 20:00:41 -04:00
matlabbe 82a19a2ff1 DbViewer: Updated add constraint order (from=old, to=newer) 2020-04-08 18:52:38 -04:00
matlabbe 7e8e80db2c Fixed map_id not starting at 0 when empty 2020-04-08 17:02:44 -04:00
matlabbe cdff33b1c2 Added Mem/LocalizationDataSaved parameter 2020-04-05 19:21:20 -04:00
matlabbe e83838f744 CameraRealSense2: fixed ifstream imcomplete type error 2020-04-05 12:30:46 -04:00
matlabbe b3f7d1881f GUI: added options to hide map/odom frames and yellow TF links. CloudViewer: added option to show/hide camera axis 2020-04-03 20:04:15 -04:00
matlabbe 9c62a11316 fixed #525 2020-04-03 17:28:23 -04:00
matlabbe 034adb9f1f fixed #503 2020-04-02 15:07:32 -04:00
matlabbe fd1fa0320a fixed build with latest libpointmatcher 2020-04-01 15:52:46 -04:00
matlabbe b95195d8bb CameraRealSense2: added json preset file option (#513) 2020-04-01 12:25:28 -04:00
matlabbe dcc15f7555 MainWindow: added TG_error_lin and TG_error_ang stats for odometry (error of actual odometry transform compared to ground truth) 2020-03-31 11:52:27 -04:00
matlabbe 0eb978cb0b RegInfo: fixed copy without data. 2020-03-28 18:48:51 -04:00
matlabbe 451211cfb1 OdomInfo: added icpCorrespondences. Stats: using norm instead of x for distance/speed. Added odometry speed statistic in mph 2020-03-28 17:07:22 -04:00
matlabbe 06caa328a4 Lidar low complexity update. util3d::computeNormalsComplexity(): added optional transform (used in RegistrationIcp to get normal vectors in right coordinate frame). RegistrationIcp: Fixed PointToPoint ICP not used with PM when recomputing transform from low complexity. Added more info in warning messages when low complexity happens. OdometryF2M: avoid adding key frame when scan has low complexity. Same for the first frame to init the local scan map. 2020-03-28 16:25:27 -04:00
matlabbe 5122d9ac02 Memory: fixed fisheye distortion index error when rectifying only features 2020-03-24 11:46:16 -04:00
matlabbe d201e25006 CloudViewer: Fixed normals_scale=0 2020-03-12 16:41:52 -04:00
matlabbe b7bed0d1a5 Report: ignore total slam time on intermediate nodes 2020-03-12 14:12:00 -04:00
matlabbe 9993c4f2f7 Parameters.h: fixed warning C4305 2020-03-12 00:57:11 -04:00
matlabbe 5371f94c8f VS2019: fixed build 2020-03-11 23:34:55 -04:00
matlabbe 39724e239c rtabmap: fixed graph not re-optimized (if empty) after first localization on landmark 2020-03-10 13:08:47 -04:00
matlabbe bfc64c451a MainWindow: added /map and /odom coordinate frames 2020-03-10 10:30:42 -04:00
matlabbe 6133399b2e util3d: added intersectRayMesh() and intersectRayTriangle() functions 2020-03-03 14:32:12 -05:00
matlabbe c2dde973a6 Odometry: rectify stereo images for convenience if Rtabmap/ImagesAlreadyRectified is false and odometry strategy cannot process raw images 2020-03-02 16:57:14 -05:00
matlabbe 3ea64fbfc3 Rtabmap: do localization if a landmark already in graph is detected 2020-03-01 18:41:49 -05:00
matlabbe cb80d85dd6 DbViewer: removed graph optimization from latest optimized poses (see http://official-rtab-map-forum.67519.x6.nabble.com/Database-Post-Processing-Save-refined-links-td6504.html) 2020-03-01 16:59:46 -05:00
matlabbe dceec711e0 report: added --loop option to compute loop closure errors 2020-03-01 14:11:37 -05:00
matlabbe 67f1ce600f ament f7deefb31d for OpencV >=3.4.4 2020-02-29 15:22:14 -05:00
matlabbe 5daf4e5b2b Rtabmap: avoid optimizing for only gravity if odometry is already aligned with gravity 2020-02-26 13:40:03 -05:00
matlabbe 80bee99bfc ExportDialog: show (disabled) multi-band option even if not available for viewing (only for exporting) 2020-02-22 18:16:45 -05:00
matlabbe 882f2010ce MainWindow/rtabmapviz: Ignore Odometry stats included in rtabmap's Statistics object (to avoid plot reset when also receiving those from odom info) 2020-02-21 16:16:36 -05:00
matlabbe 352507cb1c Update downsampling filtering approach for ring-like lidars like the ouster 2020-02-21 15:01:31 -05:00
matlabbe e7a7ab8031 CloudViewer: added scan red colormap and max intensity options 2020-02-20 15:33:50 -05:00
matlabbe bd979cca34 Fixed rejected 180deg loop closure with multi-camera setup 2020-02-19 14:35:37 -05:00
matlabbe ab9f05fb0f Parameters: fixed "False" conversion independently of the case 2020-02-17 12:41:20 -05:00
matlabbe 5c197f176e DBViewer: fixed Yes vs YesToAll after editing 2d occupancy grid 2020-02-13 17:43:47 -05:00
matlabbe 5fef44ec2b DBViewer: Added option to crop empty space from local grid and scans after 2d occupancy grid is manually edited 2020-02-13 17:32:39 -05:00
matlabbe 79b480da4b Rtabmap: added addLink() function 2020-02-11 23:33:18 -05:00
matlabbe e1ecf55d03 fixed 14.04 build 2020-02-05 20:46:15 -05:00
matlabbe c9f21e7ebf fixed #498 2020-02-05 20:01:02 -05:00
matlabbe f7deefb31d Fixed compilation with OpenCV 4.2 #502 (see https://github.com/opencv/opencv/commit/ad146e5a6b931ac5d179d4fedc58cef99a3c9e7e and https://github.com/opencv/opencv/pull/16046) 2020-02-05 11:52:31 -05:00
matlabbe e2e2227895 ZED: Fixed compilation error with ZED SDK3 (#499). Added textureness confidence thr parameter (default 90, working only with ZED SDK3) 2020-02-03 17:59:07 -05:00
matlabbe f7540196d4 Fixed many compilation warnings (c++14, like pedantic warnings) 2020-01-30 17:23:02 -05:00
matlabbe ccc5a5be5a OctoMap::createCloud() added cloud probability output option. 
CameraRealSense2: added new warnings to debug easier timestamps problems.
GUI: added gravity visualization.
DbViewer: empty clouds in OctoMap mode have color depending on probability of occupancy.
Brought general changes from local xvision branch.
 2020-01-22 10:34:21 -05:00
matlabbe f9e818c900 CMake: alice vision option off by default (because it needs to be modified to be compatible https://gist.github.com/matlabbe/469bba5e7733ad6f2e3d7857b84f1f9e) 2020-01-06 13:39:35 -05:00
matlabbe 356094fac4 Intermediate nodes are now filtered if RGBD/LinearUpdate is set. 2019-12-20 17:07:31 -05:00
matlabbe 7d1a97696b OctoMap: fixed frontier with higher tree depth 2019-12-20 15:56:52 -05:00
matlabbe af9e113112 Gui: added missing OdomF2M/ScanRange parameter 2019-12-11 17:17:29 -05:00
matlabbe 62a2af193c fixed a compilation warning 2019-12-11 15:58:05 -05:00
matlabbe 2d7ab7bdef Report: support Odometry/TimeEstimation/ms from ros 2019-12-11 11:33:19 -05:00
matlabbe 57a27a5d17 MainWindow: added virtual functions for convenience 2019-12-10 18:48:54 -05:00
matlabbe 1d7dee8976 kitti-tool: fixed no scan bug when using velodyne odom 2019-12-10 18:39:39 -05:00
matlabbe 9582ea4b55 Update .travis.yml 2019-11-24 09:57:49 -05:00
matlabbe edee5acdbf DBViewer: we can now add new links between disconnected maps using only lidar. Export: convert intensity to grayscale when exporting colored mesh. 2019-11-23 17:58:40 -05:00
matlabbe 85e7c9cf04 fixed undefined reference to vtkSmartVolumeMapper::SetRequestedRenderModeToRayCast() when using PCL 1.9.1 2019-11-21 04:07:38 +00:00
matlabbe b39fd0321e Update FindK4A.cmake 2019-11-19 09:39:42 -05:00