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Commit Graph
1552 Commits
Author SHA1 Message Date
matlabbe a6f0877045 Parameters: added Rtabmap/ImagesAlreadyRectified to odometry parameters (to be shown with --params) 2020-12-18 17:57:43 -05:00
matlabbe d8ebbc2645 CameraK4A: rectifying color image (this improves a lot visual odometry accuracy) 2020-12-13 15:27:17 -05:00
matlabbe 1acf8ff193 RegIcp: don't assert if normals cannot be computed properly before doing complexity check, just reject the transform 2020-12-12 16:53:07 -05:00
matlabbe 51826c9a97 RegIcp: fixed KDTreeMatcherIntensity build error on Mac. 2020-12-11 17:22:29 -05:00
matlabbe 049238dd59 Gui: added L515 icon 2020-12-11 09:56:17 -05:00
42Max42 3271723034 superpoint, fixing slow convert after cnn (#659) 
* fixing slow convert after cnn

* restoring cmake
 2020-12-11 09:27:18 -05:00
matlabbe 3131474102 Added Db/TargetVersion parameter (#652) 2020-12-03 15:45:40 -05:00
matlabbe ee44adeb1f fixed #648 (build error without OctoMap dependency) 2020-11-30 12:33:08 -05:00
matlabbe 96c1c81e22 fixed build with older libpointmatcher versions <10300 2020-11-29 19:30:30 -05:00
matlabbe 721e046f5d fixed build 2020-11-28 17:36:42 -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 7859313beb AppVeyor: updated realsense2 sdk to 2.40. CameraRealSense2: When GlobalTimeSync option is off, don't wait 35 ms for imu (and fails), just take the latest one directly (https://github.com/introlab/rtabmap/issues/614#issuecomment-732244439). 2020-11-23 11:36:27 -05:00
matlabbe 80199f23b5 RegIcp: complexity, checking if second eigen value is also under Icp/PointToPlaneMinComplexity to limit to only one axis. DbViewer: fixed refine link with scans having RGB channel. 2020-11-22 19:32:01 -05:00
matlabbe bce7ae6acd Fixed GTSAM reference frame yaw drift over time when gravity links are used 2020-11-22 16:40:30 -05:00
matlabbe f88845e138 fixed #643 2020-11-22 14:29:05 -05:00
matlabbe bdc7be40b4 Fix for previous commit https://github.com/introlab/rtabmap/commit/e4cb59b74d69887fd67700420d408db5a6850663 (otherwise imu are ignored if globalTimeSync is off) 2020-11-22 12:38:21 -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 dab407e5b9 fixed https://github.com/introlab/rtabmap/commit/ad44b65a28c0bb16add80a3d0afb9c721f84ba68#commitcomment-44427459 2020-11-22 11:10:35 -05:00
matlabbe 98a499b603 Optimizer: fall back on g2o or gtsam first if one or the other is not available (instead of going TORO). ExportClouds: added ceiling and floor filtering options. 2020-11-22 01:23:08 -05:00
matlabbe ab1aa5578a Fixed build 2020-11-21 17:12:09 -05:00
David MolinaJohn Paul SolivaTim Fronsee
 		f467f2af7f Added Marker/MaxRange and Marker/MinRange parameters (#630) 
* ADD 3 meter limit for marker detections

* ADD Marker/MaxRange and Marker/MinRange parameters for controlling marker detection
ADD ctags ignore

Co-authored-by: John Paul Soliva <soliva@seaos.co.jp>
Co-authored-by: Tim Fronsee <tfronsee21@gmail.com>
 2020-11-21 16:18:22 -05:00
matlabbe ddecefbb9c 💄 2020-11-21 12:34:17 -05:00
matlabbe ad44b65a28 Allow partial support for AliceVision v2.3.0 (see #564 for remaining issues) 2020-11-20 13:42:56 -05:00
matlabbe fdaaa6ccfa Fixed bug L500 gyro/acc not detected (#629) 2020-11-19 13:49:10 -05:00
matlabbe 34e1af7e22 RealSense2: added error message for L515 if resolution is not 640x480 30 fps (#629) 2020-11-19 10:38:15 -05:00
matlabbe 54e2688a1d Fixed build with pcl > 1.11.1 (#641) 2020-11-14 16:52:01 -05:00
matlabbe f9abcf9e35 fixed opencv2 build 2020-11-14 14:41:37 -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 e102243f0e Fixed weight=-8 bug when moving rehearsed node to trash 2020-11-06 14:47:10 -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 d04b1a13be multiband: add multi-camera support. rtabmap-export: updated options (now supporting creating point cloud from scans). 2020-11-04 14:02:18 -05:00
matlabbe e269067d4c Texturing: add distanceToCamPolicy option 2020-11-03 16:11:37 -05:00
matlabbe 4ecf37a3ab fixed build with OpenCV 2.4 2020-11-01 12:49:21 -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 afbc0edbd6 Local occupancy grid: fixed empty obstacles with scans having intensity channel when Grid/RangeMax is used. 2020-10-21 15:38:19 -04:00
matlabbe fbc30042c4 Fixed biggest index/min/max when Grid/MaxGroundHeight is set (http://official-rtab-map-forum.67519.x6.nabble.com/Comparison-between-realsense-D435-vs-T265-vs-T265-D435-dual-setup-td6456i20.html) 2020-10-18 15:56:13 -04:00
matlabbe a4da1e14b4 SIFT: fixed SIFT not extracted with OpenCV >=4.4 and >=3.4.11 when nonfree is false 2020-10-17 20:34:24 -04:00
matlabbe 3047b7da6b CameraRealSense2: update for L515 support 2020-10-17 19:57:27 -04:00
matlabbe bbb3c56008 Fixed android build 2020-10-16 14:55:50 -04:00
matlabbe 3aae79270f Output an error if a timestamp file is missing instead of asserting #613 2020-10-12 14:30:57 -04:00
matlabbe 1b4a992b55 Merge branch 'master' of https://github.com/introlab/rtabmap into devel 2020-10-12 13:16:08 -04:00
matlabbe 384b120d2e Fixed landmark ignored when Rtabmap/StartNewMapOnLoopClosure is true and a loop closure is rejected (before graph optimization) 2020-10-12 13:05:14 -04:00
matlabbe 304c365ae6 Kp/ByteToFloat: Changed default of false 
Based on http://official-rtab-map-forum.67519.x6.nabble.com/ZED2-rtabmap-loop-closure-and-twisted-map-tp6986p7002.html
 2020-10-12 11:04:59 -04:00
matlabbe 2cb509c825 DbViewer: manual constraints can now be added (http://official-rtab-map-forum.67519.x6.nabble.com/Manually-adding-modifying-node-constraints-td6983.html) 2020-10-07 15:41:13 -04:00
matlabbe 168c87b5ba Added statitic Timing/RAM_estimation/. Updated VWDictionary::getMemoryUsed(). 2020-10-05 22:11:28 -04:00
matlabbe a80e062bef Fixed build error in Trusty 2020-10-05 18:17:18 -04:00
matlabbe 9e321971ef Removed debug log 2020-10-05 17:49:26 -04:00
matlabbe 8260733b11 fixed detectMoreLoopClosures when RGBD/LocalBundleOnLoopClosure is true 2020-10-05 17:47:13 -04:00
matlabbe bbccbd63e4 Increased version to 0.20.5 
Refactored how features are stored in Signature (significative memory optimization, causing major refactoring in Memory, RegistrationVis, OdometryF2M)
FLANN: optimized memory usage when Kp/IncrementalFlann is false
Added memory usage functions
Added statistics Loop/Visual_inliers_ratio/ and Memory/RAM_estimated/MB
EpipolarGeometry: templated findPairs functions
graph::filterLinks: added inverted option
LocalBundleOnLoopClosure: Force to use only neighbor links
MainWindow: fixed max depth filtering for map's features
Rtabmap::getSignatureCopy() fixed links not returned
Added UPlot::getAllCurveDataAsText() function.
DbViewer: fixed features not rendered in right view when failing ro refine a constraint
report: added --export and --export_prefix options (to export figures data)
 2020-10-05 17:34:32 -04:00