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9afbcf2d06e69bfcd08f4d3a3b27acbcc6ba7a6e
Commit Graph

330 Commits

Author SHA1 Message Date
matlabbe
9afbcf2d06 detectMoreLoopClosures tool: regenerate global occupancy grid for convenience if there was one before 2022-09-30 15:48:09 -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
34ed9d79c7 export: added --texture_blur filtering option 2022-07-20 22:08:45 -04:00
matlabbe
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
dab7aa6e58 export: added min_range option 2022-05-03 23:12:09 -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
d35193721b report tool: option --loc can be used without a number. 2022-04-01 13:53:32 -04:00
matlabbe
656da152b3 multiband: fixed error when intermediate nodes without data are in memory 2022-03-01 18:42:43 -05:00
matlabbe
e7ee025127 Export: fixed texturing assert when there are intermediate nodes 2022-02-25 02:08:08 -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
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
02140f92db fixed build 2022-01-27 22:55:59 -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
matlabbe
a8e5bbf415 export: added --texture_roi_ratios option 2022-01-26 20:12:04 -05:00
matlabbe
5f55f63443 report: ignoring landmarks after optimization to avoid errors when exporting poses 2022-01-15 22:02:45 -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
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
67710ef94c Export: optimized camera projection RAM usage. Added --texture_angle and --cam_projection_decimation options. 2021-11-21 17:10:57 -05:00
matlabbe
459c7b2bd7 Export: added --min_cluster option. 2021-11-16 11:58:55 -05:00
matlabbe
dbecaac809 Moved bin dir inside build directory (#784) 
* 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
4ba805b5b3 Report: fixed landmarks not used during optimization. Reprocess: added --nolandmark option to ignore landmarks in input database. 2021-11-12 12:47:54 -05:00
matlabbe
06150c697f Fixed #750 2021-11-08 14:20:21 -05:00
matlabbe
2ad334df90 Added filter_floor and adjusted default values. 2021-10-29 13:58:00 -04:00
matlabbe
0ab5a8f43e Merge branch 'master' of https://github.com/RobotnikAutomation/rtabmap into RobotnikAutomation-master 2021-10-29 13:57:16 -04:00
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
Ines
6cb741667d Add ceiling filter to rtabmap-export 2021-10-22 12:36:53 +02:00
matlabbe
d0242b14cf DetectMoreLoopClosures CLI: show overridden parameters 2021-10-11 13:52:55 -04:00
matlabbe
bccc5b13af FLOAM: added some debug logs 2021-09-24 11:32:25 -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
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
263e0170f1 export: refactored ba (to support stereo data) 2021-09-09 14:22:02 -04:00
matlabbe
20361400e1 export: output intensity channel with RGB when --cam_projection and --scan options are set (PDAL required) 2021-09-07 15:57:23 -04:00
matlabbe
371a3ef851 fixed CleanupLocalGrids install target 2021-09-01 10:23:45 -04:00
matlabbe
daefc5ff54 Added rtabmap-cleanupLocalGrids CLI 2021-08-28 22:19:59 -04:00
matlabbe
c5e4d67f80 export: don't assert if gain is zero (means disabled) 2021-08-16 20:27:31 -04:00
matlabbe
ed68fe777b Added more options for multiband texturing 2021-08-16 13:14:02 -04:00
matlabbe
db00e04cc1 rtabmap-info: updated to show parameters not in the database. 2021-08-12 10:55:08 -04:00
matlabbe
eeecb21793 export tool: added --camera_projection_keep_all option 2021-08-03 13:46:39 -04:00
matlabbe
f9257beeb8 export: updated default poses format (11) 2021-07-05 12:58:24 -04:00
matlabbe
485bf806bd export tool: use pcl's PLY writer instead of pdal if camera ids are not exported (ply compatibility issue when reading back using pcl) 2021-07-05 10:04:51 -04:00
matlabbe
68ae3b76af export: updated to export calibration for every files (to support auto-focus cameras). Added output_dir option. 2021-07-05 09:46:12 -04:00
matlabbe
5167927d01 report: added --ignore_inter_nodes option. CloudViewer: set max absolute scan intensity to 100 (was 0=auto). reprocess/replay db: ignore intermediate nodes if Rtabmap/CreateIntermediateNodes is false. 2021-06-21 17:23:53 -04:00
matlabbe
d75cc04ad2 CloudViewer: fixed opengl not refreshed on update (VTK9). Fixed File Explorer hanging (Qt 5.12). Fixed backup database not deleted after a recovery. 2021-06-18 12:43:08 -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
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
4390cb6428 calibration tool: added RealSense2 T265 support 2021-05-12 18:31:41 -04:00
matlabbe
d75f9524f3 Export: added --texture_depth_error option 2021-05-12 10:56:16 -04:00
matlabbe
a11492943a Export CLI: added print info for coloring mesh step 2021-05-10 15:19:48 -04:00
matlabbe
854a52c6a5 Export CLI: added noise_radius and noise_k options to filter noise 2021-05-10 14:45:35 -04:00
matlabbe
2fcef88016 Export: added --poses_format option (default 10=RGBD-SLAM format). Added new pose format 11=RGBD-SLAM + ID. 2021-04-13 15:49:04 -04:00