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2,981 Commits 30 Branches 168 Tags
95a76cb696727241125bad6b256f6ee1580815a4
Commit Graph
450 Commits
Author SHA1 Message Date
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 749cd096ff Fixed map::at() seg fault when localizing on a database with multiple disjoint sessions 2022-09-13 06:19:23 +00:00
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 <[email protected]>
 2022-07-20 15:20:14 -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 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 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 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 315350dbfc CCCorelib: updated wrong output check. Updated RGBD/MaxOdomCacheSize approach to work properly with Rtabmap/CreateIntermediateNodes=true. 2022-01-28 14:48:32 -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 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 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 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 a3823594a4 Converted an assert to an error. 2021-12-26 14:53:22 -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 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 a901f20d06 0.20.14: added globalBundleAdjustment CLI, added Rtabmap/Memory::cleanupLocalGrids function, init with optimizedPoses from db even in mapping mode, reprocess: added -db option to save optimized 2d grid in database. 2021-09-11 11:35:43 -04:00
matlabbe 7338cb8a85 Localization: fixed initial graph optimization root id (based on RGBD/OptimizeFromGraphEnd) when optimized graph is not saved in db. 2021-07-09 14:57:15 -04:00
matlabbe 3da4bb9faa For Icp/DebugExportFormat and RGBD/ProximityGlobalScanMap, use Rtabmap/WorkingDirectory as output directory for debugging files. 2021-06-27 20:37:42 -04:00
matlabbe 11e9837b82 Added RGBD/ProximityGlobalScanMap for proximity detection using the whole scan map in localization mode. Added Icp RMS statistics (CCCorelib). Updated how localization is corrected with gravity when available (simply use roll and pitch of current gravity constraint). 2021-06-23 17:13:07 -04:00
matlabbe 6342658ec5 iOS: fixed origin when we do New Scan while we were already mapping, improved FPV feedback in point cloud mode, showing camera overlay in visualization mode (pinch out to disable). Localization mode: Updated how marker detection transform are modified by gravity constraints. 2021-06-12 12:42:56 -04:00
matlabbe 289d4afd76 ios first release 2021-06-08 00:06:49 -04:00
matlabbe 8b1b874bf3 Statistics: added LoopOptimization_max_ang_error stats 2021-05-27 13:00:29 -04:00
matlabbe 21dbeed4b7 Odom sensor option (#726) 
* Added Odom Sensor option

* Odom Sensor: Added pose time offset parameter

* Gui: fixed odom cloud not shown when rgb/depth doesn't have same size. Odom sensor: fixed rawImages set on non-stereo camera (because stereoRectify wrongly set to all cameras)

* Calibration: fixed rgb and depth suffixes not correctly set. OpenNI2: horizontal and vertical shifts can be also set for default calib.

* Fixed a warning

* OdomSensor: added option to use odom sensor output as ground truth (for comparison between odom sensor and rtabmap odom). Added scale factor option.

* FindG2O.cmake: updated path suffixes to find EXTERNAL csparse

* Pose3GravityFactor: fixed dllimport error on windows

* UI: Statistics panel not updated if not visible and keep stats in cache is unchecked. Added description to some timing debug logs in processStatistics().

* Removed vtkOutputWindow on Windows

* Odom Sensor: added zed sdk support

* bump version 0.20.11
 2021-05-23 17:21:12 -04:00
matlabbe ff956a725e Fixed "localization won't be corrected with gravity" warning in localization mode and imu data are not used (while Optimizer/GravitySigma>0) 2021-05-02 19:42:59 -04:00
matlabbe 752509fb15 Rtabmap::detectMoreLoopClosures: added clusterRadiusMin parameter and update optimized poses after each accepted loop closure (also in MainWindow) like in DbViewer. Added graph::computeMinMax(poses). OdometryInfo: added guess transform. Export: added min/max axis ranges to filter nodes before expoting clouds. 2021-03-13 18:42:13 -05:00
matlabbe f6e17be2b4 Added ViewPlane XY, XZ and YZ options to GraphViewer 
Parameter RGBD/SavedLocalizationIgnored now called RGBD/StartAtOrigin (updated description, used only in localization mode)
IcpReg: if Force4DoF, set lower covariance values for roll and pitch
DbViewer: updated detectMoreLoopClosures with new minRadius option and update optimized poses between each new accepted loop closures.
MainWindow: suppressed warning if depth image is not found in current node data (when rgb is).
3D Map view: changed default map point size to 1 (was 2)
 2021-03-12 17:47:36 -05:00
matlabbe 4f46d8e904 Updated some RGBD/Proximity**** parameter descriptions. Added parameter RGBD/LoopClosureIdentityGuess. Fixed local map cleared in localization when RGBD/SavedLocalizationIgnored is true (should then assume it is starting from origin). 2021-03-04 11:26:35 -05:00
matlabbe d119487dd7 Coloring scan (camera projection on point cloud) (#693) 
* ExportClouds: Added camera projection options

* ExportClouds: fixed ceiling/floor filtering options not saved in config

* ExportClouds: fixed colorless scan points still exported when option is unchecked.

* Export tool: added --bin, --poses, --images, --las and --cam_projection options; export with intensity with --scan option. PDALWriter: added binary option (only used for PLY an PCD formats). Rtabmap: Do graph optimization if neighbor link refined and Mem/UseOdomGravity is used.
 2021-03-01 09:56:37 -05:00
matlabbe d733029565 Increased version to 0.20.7. OdometryF2M: added support for intensity field, removed ignored key frames when there is low scan complexity. RegistrationIcp: added Icp/PMMatcherIntensity, Icp/PointToPlaneGroundNormalsUp and Icp/PointToPlaneLowComplexityStrategy parameters. Rtabmap: when graph optimized from end, increased optimization error before warning that resulting map correction is not identity (this could happen with GTSAM as the root is not perfectly fixed). CloudViewer: added coordinate frame scaling option, added rainbow colormap option for scan intensity. DBViewer: fixed local proximity merged scans not shown modified after refining those links, show intensity, fixed constraints view not updated after rejecting a link. MainWindow: added intesity support with odometry scans. 2020-11-28 17:28:34 -05:00
matlabbe 7be22d1b67 Added check to make sure input odometry poses are invertible. Source/DB: added stereo to depth option. 2020-11-06 21:37:59 -05:00
matlabbe e102243f0e Fixed weight=-8 bug when moving rehearsed node to trash 2020-11-06 14:47:10 -05:00
matlabbe bbb3c56008 Fixed android build 2020-10-16 14:55:50 -04:00