matlabbe
ea4cc7cb6c
Refactored how IMU is used in odometry (if guess is not set, use imu orientation for guess). Changed canProcessIMU() to canProcessAsynIMU() to make it more clear for odometry approaches able to process IMU between image frames (VIO approaches). ZedOC: fixed device closed if imu is not detected.
2021-03-01 19:27:24 -05:00
matlabbe
967c57d165
Added CameraStereoZedOC (Zed Open Capture driver).
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* Added CameraStereoZedOC (Zed Open Capture driver). Calibration: added stereo baseline option, show warning if fx is very different after stereo calibration.
* Fixed build without Zed Open Capture. Fixed "any" prefix added to all tools when WITH_ZEDOC=ON. UI: fixed Zed Open Capture action not disabled when not built with it.
2021-02-28 10:31:18 -05:00
matlabbe
862eb0a90a
CameraStereoVideo: added resolution options for usb camera
2021-02-25 22:22:44 -05:00
matlabbe
cad184e82b
Added Icp/PMForce4DoF parameter (works only with libpointmatcher > April 2020). Fixed some deprecated warnings.
2021-02-24 09:43:22 -05:00
matlabbe
8696a38343
Added parameter GridGlobal/AltitudeDelta
2021-02-21 13:00:16 -05:00
matlabbe
c49785061f
Added PyDetector ( #677 )
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* Added PyDetector. Refactored PyMatcher.
* Fixed python freezing with multi-threading
2021-01-17 01:56:27 -05:00
matlabbe
1a967127d9
Bump 0.20.8 version. Parameters: updated default of Vis/CorGuessWinSize=40 (was 20), GFTT/MinDistance=7 (was 3), Optimizer/GravitySigma=0.3 if built with g2o or gtsam. Those parameters help for smooth tracking on latest sensors with higher resolution and use IMU by default if available. Updated docker jfr2018 to use original parameters. CameraStereoZed: wait for imu to be available before sending frames (Zed-m and Zed2).
2021-01-08 13:04:24 -05:00
matlabbe
792c967d46
MainWindow: added driver options to differentiate between cameras having IMU or not (D400 vs D435i, ZED vs Zedm and Zed2). Enabled imu filtering by default for Freenect driver (Kinect XBOX360).
2021-01-08 01:10:23 -05:00
matlabbe
a67dbc26f2
L515 refactoring (realsense v2.41.0, firmware 1.5.3): added IR-only mode support, fixed support with latest firmware, T265+L515 working, related to #574 #614 #629 . MainWindow: Selecting RealSense2, ZED sdk, K4A, Mynteye drivers automatically enable gravity optimization (with IMU filtering).
2021-01-08 00:01:08 -05:00
matlabbe
d700d09339
DataRecorder tool: interface changed to use config file ( #661 )
2020-12-13 12:42:58 -05:00
matlabbe
3131474102
Added Db/TargetVersion parameter ( #652 )
2020-12-03 15:45:40 -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
e4cb59b74d
Added suggestion from https://github.com/introlab/rtabmap/issues/614#issuecomment-731769818
2020-11-22 12:32:39 -05:00
matlabbe
f5d7dc2814
PreferencesDialog: Added Marker/MaxRange and Marker/MinRange parameters to UI.
2020-11-21 17:23:41 -05:00
matlabbe
01eb57f293
CameraImages: added configForEachFrame option (added to GUI too). CameraThread: for decimation, if depth is smaller than RGB, RGB is decimated first and if the resulting RGB image is smaller than the original depth, we then decimate the depth.
2020-11-14 13:39:12 -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
e7a2f206a0
Gui: fixed warning scan not found when uncompressing data. Don't disable Mem/UseOdomFeatures checkbox anymore in monitoring mode (ROS).
2020-11-05 15:50:05 -05:00
matlabbe
6a730b51c7
GUI-Preferences: disabled Daisy feature option on OpenCV 2
2020-11-01 13:01:23 -05:00
matlabbe
99275fba1d
Added Daisy descriptor. ORB: updated default parameters. Making ORBOctree using ORB parameters. Updated Vis/CorNNDR default from 0.6 to 0.8 (increase number of matches with binary descriptors, increase slightly feature matching time with float descriptors). Note that jfr2018 scripts have been updated to use old value 0.6. rtabmap-info: show descriptor dimension and type.
2020-11-01 11:28:59 -05:00
matlabbe
933ac736f1
Increased version 0.20.4. Added parameter Kp/ByteToFloat (default true to use less memory with kdtree and binary descriptors). Memory/Sqlite3: Setting weight to -9 for invalid nodes (to make sure they are not reloaded from database, to fix a graph reduced issue). Added 12-SURF/FREAK detector approach. rtabmap-info: added number of nodes in each sessions.
2020-09-28 10:29:14 -04:00
matlabbe
d50b33a7b8
Preferences: updated warnings for free sift ( #596 )
2020-09-10 17:56:49 -04:00
matlabbe
49cb470b8d
CameraK4A: refactored to unify playback and real device code. Fixed ir option (with rectification).
2020-09-04 12:48:18 -04:00
matlabbe
e800662bac
Fixed build with OpenCV >= 3.4.11
2020-07-02 16:29:23 -04:00
matlabbe
8fa216bd9d
Fixed default odom gravity sigma value to -1. Preferences: set 720p by default for K4A driver
2020-07-01 14:04:19 -04:00
matlabbe
86ac63ab19
UPlot: changed float to qreal (double). Added UPlot::frameData() function.
2020-06-07 11:55:27 -04:00
Thomas Kircher
de5610bd08
Added preferences for Azure Kinect camera ( #559 )
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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
* Added preliminary K4A device support
* Edits to K4A camera implementation
* K4A minor initialization fix
* Typo
* Another initialization fix
* Update CameraRGBD tool to display K4A camera output
* K4A added model parameter so we can create maps
* Added combo boxes for K4A options
* Functionalized combo boxes for K4A options
* Finished adding K4A preferences
2020-06-04 11:34:37 -04:00
matlabbe
d5cfd8013d
CameraMyntEye: added setIrControl()
2020-05-31 12:17:14 -04:00
matlabbe
415a2778f1
Added Features2d::limitKeypoints() with grid options. Odometry: if imu is provided and no guess is provided, the change of orientation of imu is used for rotation guess (overwrite rotation from Odom/GuessFromMotion). OdometryInfo: added gravity errors when imu is used. Preferences: added a second GravitySigma parameter (overwritting Optimizer/GravitySigma for odometry is not negative) for F2M odometry panel.
2020-05-31 11:22:12 -04:00
matlabbe
45ddce938a
CameraMyntEye/GUI: added manual/auto exposure option (default auto). Rtabmap: refactored warning when RGBD/OptimizeFromGraphEnd changes state.
2020-05-28 19:50:02 -04:00
matlabbe
ae5ce029d6
Fixed SIFT build issue between OpenCV 4.3.0 and OpenCV 4.3.0-dev
2020-05-27 10:35:18 -04:00
matlabbe
b40d9610ed
Preferences: Fixed xfeatures2d features not available without nonfree on OpenCV >= 3.4.2 ( https://github.com/introlab/rtabmap_ros/issues/422 )
2020-05-25 17:31:13 -04:00
matlabbe
69a2aacc8e
Parameters: added SIFT/RootSIFT parameter.
2020-05-21 17:09:20 -04:00
matlabbe
360a153565
Parameters: Renamed SuperGlue group to PyMatcher group. Added OANet python script.
2020-05-20 09:45:39 -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
1b675c3dcb
Preferences: fixed SuperGlue/Indoor widget not found
2020-05-11 14:10:49 -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
fbdc3780c7
Freenect: fixed imu local transform. Preferences: show imu filters with freenect driver.
2020-05-09 23:13:39 -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
0a4d0038cb
Preferences dialog: fixed missing Vis/CorCrossCheck checkbox
2020-05-02 11:03:17 -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
35074f6d9f
DBViewer: fixed missing parameter groups in Core Parameters. MainWindow: disabled frames by default.
2020-04-22 18:30:42 -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
cdff33b1c2
Added Mem/LocalizationDataSaved parameter
2020-04-05 19:21:20 -04:00
matlabbe
b3f7d1881f
GUI: added options to hide map/odom frames and yellow TF links. CloudViewer: added option to show/hide camera axis
2020-04-03 20:04:15 -04:00
matlabbe
b95195d8bb
CameraRealSense2: added json preset file option ( #513 )
2020-04-01 12:25:28 -04:00
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
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
matlabbe
af9e113112
Gui: added missing OdomF2M/ScanRange parameter
2019-12-11 17:17:29 -05:00
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