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Author SHA1 Message Date
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 05676d1577 ios: Moved install_deps.sh in upper directory to easy cleanup Libraries. Fixed uNumber2Str(double) link error. 2022-11-19 12:41:01 -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 16e3314e64 💄 2022-11-11 14:45:33 -08:00
matlabbe d59a306ae3 Export: fixed depth image wrongly set for stereo data 2022-11-10 17:18:57 -08:00
matlabbe bdfab4e0be reprocess: added "-a" option (append mode) 2022-11-02 15:06:13 -07:00
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 2889cf8048 GUI: fixed latest data requested on localization mode 2022-10-31 13:21:13 -07:00
matlabbe def876983d docker/android: fixed docker not detecting compilation failure. ios: added exit flag for install_deps.sh script 2022-10-30 15:07:55 -07:00
matlabbe 69214b927a fixed android build 2022-10-30 14:47:34 -07:00
matlabbe 67b2cbe5ca docker: set dummy build-args for build not required them 2022-10-30 14:39:33 -07:00
matlabbe 86f66cc8b8 Added missing signature info in republished data 2022-10-30 13:59:08 -07:00
matlabbe d70924a3a4 bump package version 0.20.22 2022-10-28 12:30:01 -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 8e30c1c812 GraphView: added user link on inter/intra loop closure color scheme option 2022-10-24 17:45:16 -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 a8cdf1f940 reprocess: disable Mem/UseOdomFeatures by default when there are more than 1 input database 2022-10-24 10:34:37 -07:00
matlabbe 769ace86ce Added oak-d lite menu option (depthai: imu is now optionnal) 2022-10-23 18:15:23 -07:00
matlabbe 97a150b180 DbViewer: added option to regenerate optimized 2d map from OctoMap (https://github.com/introlab/rtabmap_ros/issues/213) 2022-10-23 12:16:35 -07:00
matlabbe 6e8f43916c floam: republish input scan with features 2022-10-16 21:31:43 -07:00
matlabbe 5b0047efad docker: fixed AliceVision build (bionic/focal) 2022-10-15 14:06:20 -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 2cbd43dfb6 Update cmake-ros.yml 
Added ros2 distros
 2022-10-09 12:47:03 -07:00
matlabbe 1f06386f37 Update README.md 2022-10-09 12:22:09 -07:00
matlabbe 1e9b090624 Gui: Added re-localization colors on odom cache graph. Added frame labels (map, odom). 2022-10-04 16:27:33 -07:00
matlabbe 7e3e5ec50b DBViewer: fixed matching lines when two images don't have the same number of cameras. Fixed nodes with w=-9 can be used to add constraint (in case localization data is saved in database). Add constraint: compute transform in order of the sliders. 2022-10-04 14:23:12 -07:00
matlabbe 8d23f19f6c bump ros package version 2022-10-01 18:30:51 -07:00
matlabbe 9afbcf2d06 detectMoreLoopClosures tool: regenerate global occupancy grid for convenience if there was one before 2022-09-30 15:48:09 -07:00
matlabbe 30bf5895ca Fixed #909 2022-09-30 14:17:23 -07:00
matlabbe e0a2adcb45 Updated latest jfr2018 docker 2022-09-27 16:37:25 -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 55546132a0 Fixed build on 16.04 2022-09-27 17:22:52 +00:00
matlabbeandmathieu86 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
matlabbeandmathieu86 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 adfb250d4e 2022-IlluminationInvariant: set RGBD/OptimizeMaxError to 0 to make it easier to reproduce results of the paper 2022-09-13 19:58:55 -07:00
matlabbe a14b39b953 fixed android docker file not found on CI 2022-09-13 00:45:39 -07:00
matlabbe 3dd0965a15 Updated archive/2022-IlluminationInvariant/README.md 2022-09-13 00:29:44 -07:00
matlabbe e059ead7f5 Merge branch 'master' of https://github.com/introlab/rtabmap 2022-09-12 23:22:59 -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 37b920396c Added docker image for frontiers2022 (updated README in archive/2022-IlluminationInvariant) 2022-09-11 13:03:32 -07:00
matlabbe 0dc5fbdd70 fixed #873 2022-09-06 16:19:20 -07:00
matlabbe f1c987a0ce Fixed android build (res tool not found) 2022-09-04 14:29:59 -04:00
matlabbe 69b0caed6f Update README.md 2022-09-04 13:39:40 -04:00
matlabbe 8cd4a6feff OdomF2M: fixed lidar-only broken from commit https://github.com/introlab/rtabmap/commit/9797918d520f63e15d9ec225365f4d32c9300994 2022-07-28 11:48:55 -04:00
matlabbe 33e54430a1 bump version 0.20.20 (api changes on CameraModel) 2022-07-28 10:51:13 -04:00
matlabbe 9797918d52 fixed https://github.com/introlab/rtabmap_ros/issues/790 2022-07-27 10:15:21 -04:00
matlabbe aa3b71dbf6 docker: added missing wget dependency for arm64 (opengv dpendency) 2022-07-20 22:39:41 -04:00
matlabbe 34ed9d79c7 export: added --texture_blur filtering option 2022-07-20 22:08:45 -04:00
matlabbeandmathieu86 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 71a28bb570 Update README.md 2022-06-29 22:23:56 -04:00
matlabbe 89f56642b7 Update README.md 2022-06-26 21:30:14 -07:00
matlabbe fb6770d70f Update README.md 2022-06-26 20:59:20 -07:00
matlabbe a10eb062e5 Update README.md 2022-06-26 20:58:15 -07:00
matlabbe 4d502c9e0d Create README.md 2022-06-26 20:54:34 -07:00
matlabbe 83c1adfd1e Updated illumination invariant paper documentation 2022-06-26 20:46:08 -07:00
matlabbe 8f8256c1dd would fix: #618 #790 #795 (#871) 2022-05-30 07:24:04 -04:00
matlabbe 744c737da1 Update README.md 2022-05-28 17:22:50 -04:00
matlabbe 4cfd3ba496 Updated cmake workflow name 2022-05-28 17:20:49 -04:00
matlabbe 2da333895c workflow: added minimal build for Ubuntu 22.04 2022-05-28 17:14:55 -04:00
matlabbe 601e4015fb fixed android docker script path 2022-05-28 16:15:51 -04:00
matlabbe 47c94a4474 workflows docker: use current context instead of cloning the repo inside dockerfile 2022-05-28 16:11:52 -04:00
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 dab7aa6e58 export: added min_range option 2022-05-03 23:12:09 -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 e92dfd50e1 GUI: set default working dir if it is empty in the loaded config 2022-04-10 15:59:38 -04:00
matlabbe 1857111d7d Reprocess: added option to stream only one camera (in case of multi-camera database) 2022-04-06 14:07:23 -04:00
matlabbe 3e630e0250 UPlot: fixed number of digits after the decimal points to 6 when exporting data to text 2022-04-04 11:42:36 -04:00
matlabbe d35193721b report tool: option --loc can be used without a number. 2022-04-01 13:53:32 -04:00
matlabbe e46af2c3cd DbViewer: Added GroundTruth pose in node info labels 2022-03-31 12:00:52 -04:00
matlabbe 6cefc6d00a DBViewer: added camera frustums in Constraints View 2022-03-25 11:24:34 -04:00
matlabbe ff739a98a5 Removed opencv's optflow module from required dependency (https://github.com/introlab/rtabmap/issues/427#issuecomment-1058767133) 2022-03-07 00:12:56 -05:00
matlabbe 4321c3040a CameraDepthAI: fixed imu transform and depth mode with latest depthai-core version 2022-03-06 22:25:01 -05:00
matlabbe 1e82fd3110 ImageView: added option to set maximum range for depth colormap 2022-03-03 18:01:04 -05:00
matlabbe b9c7182a08 Update package.xml 2022-03-03 14:06:15 -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 53e0099dd8 ios: tmp database is now public, so it can be copied from file explorer / Finder in case recovery fails. 2022-02-27 14:32:19 -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 e7ee025127 Export: fixed texturing assert when there are intermediate nodes 2022-02-25 02:08:08 -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 4d895785a6 GraphViewer: added Ensure Frame Visible menu option. MainWindow: fixed loop signature failed to load image warning when camera is not used. 2022-02-19 16:16:29 -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 578c19cc38 Export CLI: for --poses_camera option with intermediate nodes in db, re-use previous camera models of last valid node with data. 2022-02-13 14:45:08 -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