13 Commits

Author	SHA1	Message	Date
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	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	63d40b2240	Fixing trusty build	2020-05-19 18:06:20 -04:00
matlabbe	cb60443a33	Fixing OpenCV<3 build	2020-05-19 15:44:41 -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	034adb9f1f	fixed #503	2020-04-02 15:07:32 -04:00
matlabbe	d5b4b25287	updated ORBExtractor opencv include (compatibility issue https://github.com/introlab/rtabmap_ros/issues/333)	2019-08-09 15:31:47 -04:00
matlabbe	1a71406f84	Fixed Windows build (std::back_inserter not found)	2019-04-23 16:15:50 -04:00
matlabbe	a0f74eaee2	Added new 2d feature ORB OcTree (approach used in ORB_SLAM2). report tool: fixed assert caused by bidirectional links. detectModeLoopClosures tool: check if input path exists.	2019-04-18 19:50:58 -04:00
matlabbe	f903ffb927	Fixed regression errors for OpencV2 (#309)	2018-09-18 23:03:40 -04:00
matlabbe	124543c57d	Fixed compilation errors with OpenCV 4.0.0 (#309)	2018-09-18 22:43:18 -04:00
matlabbe	c4ee125f73	Building more robust OpenCV3's cv::solvePnPRansac() in OpenCV2 build	2016-03-08 19:51:50 -05:00
matlabbe	62c8be40b9	Added ORB+FastGrid implementation (only with OpenCV2). Updated default parameters: Odom/GuessFromMotion=false, Vis/CorNNType=1. RegistrationVis: octave aware on features matching with motion	2016-03-08 12:31:32 -05:00