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
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
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
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
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
03a106ea36
Fixed build without g2o
2022-01-15 13:00:12 -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
51f6b32f47
Fixed windows build ( https://ci.appveyor.com/project/matlabbe/rtabmap/builds/42207812 )
2022-01-14 14:33:32 -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
49353b134c
LaserScan: fixed destination format when source is empty with operator+
2022-01-11 15:32:30 -05:00
matlabbe
145430cafd
Fixed noetic build (g2o error)
2022-01-03 16:05:11 -05:00
matlabbe
5194f40794
Fixed g2o build error with melodic/noetic versions
2022-01-03 15:37:06 -05:00
matlabbe
b2f13c2772
android: fixed g2o seg fault (CACHE_SE3_OFFSET not registered)
2022-01-02 23:30:55 -05:00
matlabbe
a3823594a4
Converted an assert to an error.
2021-12-26 14:53:22 -05:00
matlabbe
3071da42f3
Optimizer: don't fix roll/pitch on root node if gravity constraints are fed
2021-12-25 16:57:03 -05:00
matlabbe
93ee8f9b30
Working dir path: convert ~ to Home for convenience. Localization: don't show "cannot optimize" warning when RGBD/MaxOdomCacheSize=0
2021-12-24 18:24:44 -05:00
matlabbe
7ca881453e
RGBD/StartAtOrigin: set first node of the graph, not Identity
2021-12-20 17:01:08 -05:00
matlabbe
8662eb0dd7
Statistics: added OdomCache data for debugging
2021-12-18 18:53:59 -05:00
matlabbe
33130890fd
Localization: Improved resulting pose in case there are gravity constraints. iOS: clear odom trace when not visible, fixed opt mesh not correctly aligned with graph on loading when switching RGBD/OptimizeFromGraphEnd.
2021-12-18 15:37:49 -05:00
matlabbe
bca8b30832
Localization 2d Slam: automatically rotate landmark links to have z-axis up for correct 3DoF optimization. When RGBD/MaxOdomCacheSize is used, wait for at least 2 temporal localizations before adjusting the pose (to avoid big jumps when only one constraint is used).
2021-12-17 11:00:37 -05:00
matlabbe
0e62050824
rtabmap: fixed graph re-optimized with only virtual links in localization mode (which can make gtsam crash because of under constrained covariance)
2021-12-12 13:07:02 -05:00
matlabbe
cf5e90238b
Statistics: added LoopOdom_correction stats for landmark detections.
2021-12-10 21:58:11 -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
4ab0090ecd
Support feature-only rectification when using external extracted features.
2021-12-06 09:26:10 -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
67710ef94c
Export: optimized camera projection RAM usage. Added --texture_angle and --cam_projection_decimation options.
2021-11-21 17:10:57 -05:00
matlabbe
090ae0c444
DbViewer: added option to show disparity instead of right image in main views for stereo data
2021-11-20 16:36:54 -05:00
matlabbe
5fcbe2ed70
iOS: fixed install script ( #785 #741 )
2021-11-16 18:11:40 -05:00
matlabbe
9ae2c46546
CMake: fixed build without Python and Ceres if WITH_PYTHON and WITH_CERES are OFF (even if found by third party libraries, related to #783 ).
2021-11-15 18:00:17 -05:00
matlabbe
7af2a27e89
Improved log error when ROI is set with SuperPoint ( https://github.com/introlab/rtabmap_ros/issues/676 )
2021-11-14 20:26:42 -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
ec2aa5c952
OpenNI2: depth shift can be negative. MainWindow: postProcessing() refactoring (split with and without dialog).
2021-11-09 10:16:12 -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
8682026396
Rtabmap: when optimizing graph, removed guess for rootid to avoid global rotation drift over time. CameraStereoImages: set BayerMode also to right image. GraphView: fixed 0 width for line inside NodeItem. Reprocess: added -loc_null and -gt options.
2021-10-23 11:17:42 -04:00
matlabbe
44810a14e0
Show if built with PDAL on --version option
2021-10-01 11:49:45 -04:00
matlabbe
467ea42981
OdometryFLOAM: fixed published local scan map local transform
2021-09-30 10:05:56 -04:00
matlabbe
77d947d4fb
Fixed FLOAM not working when local transform is not Identity. DBViewer: warn user when scan from dpeth is checked and there are no depth images in db.
2021-09-30 09:53:50 -04:00
matlabbe
533d78d570
Fixed OdometryOpenVINS build errors with latest OpenVINS code.
2021-09-28 17:12:08 -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
