Thomas Kircher
b542d6a0db
Added Kinect for Azure menu option ( #551 )
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* Added Kinect for Azure menu option
* Reintegrated Kinect for Azure initialization code, fixed previous GUI commit
* Added ifdefs to fix build
2020-05-19 15:03:36 -04:00
matlabbe
c7b84c60bc
Parameters: added Mem/StereoFromMotion (default false) and RGBD/ProximityOdomGuess (default false). Visual proximity detection is done before computing the loop closure transform (the later is ignored if visual proximity succeeded with a node close to loop closure, add Loop/Suppressed_hypothesis_id statistics to know when this happens). Changed Loop/Map_correction to Loop/Odom_correction (to better see the actual jumps of localization about /base_link frame, not /odom frame). util3d::generateWords3DMono() is now using openCV's implementation of five-point algorithm (this fixed some cases for which the older approach couldn't find any solution). UPlot: added scrolling area on the legend, added global legend option to show all curve statistics (mean, stddev,max). MainWindow's open dialog: reopen last directory when reopening a different database. ParametersToolBox: show default parameter value in tooltip. rtabmap-report: add --start option. rtabmap-reprocess: show details about proximity and loop detections, reset all localization statistics after changing database.
2020-05-19 15:01:50 -04:00
matlabbe
d2673ed2fa
Added GMS matching approach (Vis/CorNNType=7). Added GMS/ parameters. Added SuperGlue/Indoor parameter. ImageView: updating feature and line colors directly when changing color (option menu), fixed items already added to scene warning when switching to GraphicsView.
2020-05-11 13:23:26 -04:00
matlabbe
91285e5e97
Added SuperGlue support (Vis/CorNNType=6). Added rtabmap-matcher tool. DBViewer: show matches/inliers when refine also fails. SIFT: make sift always available on OpenCV 4.3.0 ( #538 ). Parameters: changed SPTorch prefix to SuperPoint, replaced Vis/CorCrossCheck by Vis/CorNNType=5.
2020-05-09 21:13:41 -04:00
matlabbe
abc3ebee8c
fixed #538
2020-05-09 11:48:06 -04:00
matlabbe
1af139134e
Deprecated Rtabmap::get3DMap(), use Rtabmap::getGraph() instead with setting to true the data flags. Rtabmap::getGraph() now ignores children nodes.
2020-05-06 08:04:58 -04:00
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
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
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
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
66fca15cc6
Added rtabmap-info console tool
2020-04-24 13:45:41 -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
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
de354b901d
RegInfo: added icpStructuralDistribution info
2020-04-14 17:06:53 -04:00
matlabbe
cdff33b1c2
Added Mem/LocalizationDataSaved parameter
2020-04-05 19:21:20 -04:00
matlabbe
b95195d8bb
CameraRealSense2: added json preset file option ( #513 )
2020-04-01 12:25:28 -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
9993c4f2f7
Parameters.h: fixed warning C4305
2020-03-12 00:57:11 -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
5daf4e5b2b
Rtabmap: avoid optimizing for only gravity if odometry is already aligned with gravity
2020-02-26 13:40:03 -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
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
Walter Lucetti
8810c9e694
Compilation fixes ( #501 )
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Great! Thx a lot!
It should fix issue #499 as well.
2020-01-31 14:17:10 -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.
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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
Louis Petit
af2b221958
OctoMap added frontier cloud output
2019-12-17 17:31:37 -05:00
matlabbe
62a2af193c
fixed a compilation warning
2019-12-11 15:58:05 -05:00
PrescilliaA
4479a6f7e8
Odometry local map can be limited by range ( #482 )
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* Odometry local map is now dependent on robot range and not on time, recalculating normals after adding new scan to the map as well
2019-12-11 13:43:38 -05:00
matlabbe
179f17d267
0.19.6: Added auto brightness/contrast and texture format options to multiband approach. rtabmap-export moved from examples to tools directory.
2019-11-03 14:10:02 -05:00
matlabbe
5d789f75a9
Merge branch 'alicevision'
2019-10-28 21:17:16 -04:00
matlabbe
2afa76c07c
AliceVision integration, see util3d::multiBandTexturing()
2019-10-28 21:16:02 -04:00
matlabbe
260192bcc4
CameraRealSense2: Updated how D435i timestamp issue is handled (see also https://github.com/IntelRealSense/librealsense/issues/4505 )
2019-10-25 18:21:40 -04:00
matlabbe
981ac69c2c
Zed-mini: added imu thread to publish async imu events at 200 Hz (to support VINS odometry).
2019-10-13 17:40:09 -04:00
matlabbe
1e298dcfa2
CameraRealSense2: updated how imu are published in inter mode and fixed some local transforms. GUI-VINS: features are shown in Odometry view.
2019-10-13 14:48:11 -04:00
matlabbe
9cb1e4bbc5
CameraRealSense2: Added Dual Mode (T265+D400)
2019-10-03 21:06:33 -04:00
matlabbe
955660ba2a
CameraRealSense2: added stereo ir support for D400 cameras, added publishInterIMU parameter (required for VINS fusion).
2019-09-18 20:55:48 -04:00
matlabbe
b2b1977f8b
Deprecated getClosestTransform(), use getTransform() instead. OdometryF2M: removed patch about forcing roll/pitch from IMU (BA is already doing the job).
2019-09-15 17:31:58 -04:00
matlabbe
350d3cd85f
CameraRealSense2: fixed wrong IR image index. DBReader: fixed imu not published. OdometryF2M: use IMU roll/pitch values when IMU is used (reducing variance on those angles before BA).
2019-09-13 21:45:13 -04:00
matlabbe
e968fd3ef4
Remove landmark links when a node is deleted (and removed from the graph) #441
2019-09-01 13:17:44 -04:00
matlabbe
536f001479
Added OptimizerCeres class (Optimizer/Strategy=3)
2019-08-17 03:55:04 -04:00
