Borong Yuan
d031d79369
add depthai gftt detector ( #1047 )
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* add depthai feature detector draft
* update depthai gftt config
* optimize to detect more features
2023-06-11 12:57:26 -07:00
matlabbe
d3facb1a84
Added alpha=-1 option
2023-06-05 18:59:59 -07:00
Borong Yuan
31d975acd5
Add alphaScaling option
2023-05-31 22:15:16 +08:00
Borong Yuan
ff83b14b49
Add options to enable IR featues on OAK Pro models
2023-05-18 01:48:38 +08:00
matlabbe
ba33c080bc
Added RGBD/LocalizationSmoothing parameter and fixed related issues ( #1032 )
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* removed code
* added landmark in graph optimization checks
* reverted smoothing, only if there is already a previous localization link
* Added RGBDLocalizationSmoothing parameter
* Update .appveyor.yml
* Update .appveyor.yml
* Update .appveyor.yml
* Update .appveyor.yml
* Update .appveyor.yml
* Update .appveyor.yml
* Update .appveyor.yml
* Update .appveyor.yml
* Update .appveyor.yml
2023-05-14 13:03:52 -07:00
matlabbe
e54195c47f
ZED SDK 4 support ( #1013 )
2023-04-16 18:47:15 -07:00
matlabbe
8b8a512cbb
Added Icp/ReciprocalCorrespondences (new default true)
2023-04-06 20:57:35 -07:00
matlabbe
141f2d3334
DbViewer: added align gps checkbox
2023-04-05 22:19:54 -07:00
matlabbe
70c3d5d97f
DbViewer: added convenient option to rotate the occupancy grid (affect only optimized graph for localization mode).
2023-02-22 17:20:09 -08:00
matlabbe
437ed09335
DBReader: added ignore priors option (added to gui and reprocess), Statistics: added info about distance/angle of the localization, RegVis: fixed inliers mean distance on multicam setup, About: added MRPT info
2023-02-10 17:29:10 -08:00
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
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
769ace86ce
Added oak-d lite menu option (depthai: imu is now optionnal)
2022-10-23 18:15:23 -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
1e9b090624
Gui: Added re-localization colors on odom cache graph. Added frame labels (map, odom).
2022-10-04 16:27:33 -07:00
matlabbe and mathieu86
fa31affea0
Pnp multicam refactoring ( #902 )
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* 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 <[email protected]
2022-09-24 12:29:42 -07:00
matlabbe and mathieu86
5943a8b065
Added stereo multi-camera support ( #884 )
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* 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
83c1adfd1e
Updated illumination invariant paper documentation
2022-06-26 20:46:08 -07:00
matlabbe
b646c5e1db
Marker priors ( #859 )
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* 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
e46af2c3cd
DbViewer: Added GroundTruth pose in node info labels
2022-03-31 12:00:52 -04:00
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
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
Ben
2dc7b59b05
allow negative min disparity in StereoBM dialog ( #817 )
2022-01-24 17:02:47 -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
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
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
e5b4973ddc
GUI: Added Orbbec Astra icon
2021-12-29 15:53:40 -05:00
matlabbe
f3095a2e0a
Calibration dialog: fixed right panel width size. Win32: packaging missing cudnn dlls (when torch is used)
2021-12-29 15:13:13 -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
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
dbecaac809
Moved bin dir inside build directory ( #784 )
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* 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
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
ab5fd5018b
DbViewer: added update all landmark covariances menu action, also enabled edit constraint on landmark links. Covariance can be set to 9999.
2021-10-06 11:34:40 -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
matlabbe
5f65618d40
Added OdomLOAM/Resolution parameter
2021-09-22 10:48:59 -04:00
matlabbe
14b56813d3
Updated for AliceVision >=2.4.0 compatibility. Export: added --multiband_contrib option.
2021-09-19 20:20:45 -04:00
matlabbe
3ba02d2ef6
Added OdometryFLOAM (Odom/Strategy=11)
2021-09-09 17:38:54 -04:00
matlabbe
ed68fe777b
Added more options for multiband texturing
2021-08-16 13:14:02 -04:00
matlabbe
138d4aa1be
If RGBD/LoopClosureReextractFeatures=true, don't save raw features (3d point, descriptor) to Feature table.
2021-07-28 14:32:32 -04:00
matlabbe
05d45872f3
DBReader: publish landmarks by default (also added option to ignore them)
2021-06-29 16:03:21 -04:00
matlabbe
2b9ae3a2ad
Added Icp/DebugExportFormat parameter
2021-06-26 16:06:25 -04:00
matlabbe
1a64e05e2f
fixed code merged
2021-06-26 13:47:49 -04:00
matlabbe
350f995ee9
merged master to scan_map branch
2021-06-25 16:38:03 -04:00
matlabbe
eabf3e3d57
Decimation parameters for feature detection cannot be negative anymore (always done based to RGB image and depth image is decimated only if it is bigger than decimated rgb image). MainWindow: fixed light blue screen-only on full rehearsal merge.
2021-06-25 12:54:52 -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
289d4afd76
ios first release
2021-06-08 00:06:49 -04:00
f94f9cbb9b
improve flood fill and move it to update function ( #727 )
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* add flood fill filter
* change to use unordoned_multiset
* remove recursivity in flood fill and move the flood fill into the update
* Refactoring of OctoMap constructors (keeping only one). Simplified floodfill parameters to only one and added it to UI.
* Fixed ray tracing not done in local 3D maps (OctoMap)
Co-authored-by: MarcLeclercGit <[email protected] [email protected]
2021-05-30 10:12:07 -04:00
matlabbe
ada3e75005
Camera class: localTransform parameter should not have optical rotation anymore (it is added afterwards in the constructor). OdomSensor: the extrinsics should not contain optical rotation anymore. These 2 changes make it more convenient to set transfomation parameters in the UI. MainWindow::createCamera() now has odomSensor argument for convenience (for inherited classes to set both camera and odom sensor in the same function).
2021-05-26 13:40:46 -04:00
Borong Yuan