matlabbe
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e297320dd5
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Removed backward compatibility with RGBD/OptimizeMaxError to be able to use ratio lower than 1.
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2022-02-20 13:44:53 -05:00 |
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matlabbe
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c2c68c0caf
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Updated exported poses in TUM format to avoid confusion with header when importing in CloudCompare
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2022-02-18 12:17:47 -05:00 |
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matlabbe
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9bd758a62c
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SuperPoint: return at minimum 2 features or 0 (fixed crash when only one feature). Python: added main python instance from Rtabmap object (to get python instancied once for ROS). MultiSessionWidget: Fixed layout warning. Memory::computeTransform() avoid re-instanciating RegistrationVis when Reg/Strategy=1 for guess transform (to fix PyMatcher re-initialized every time). CMake: added video module to opencv required components.
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2022-02-15 01:28:38 -05:00 |
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matlabbe
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4776de7931
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rtabmap: updated proximity paths check order when likehood is not available (use closest node). MainWindow: don't pause when error happens in monitoring mode / ROS. DbViewer: show local transform of scan.
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2022-02-12 16:46:10 -05:00 |
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matlabbe
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191e165a28
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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.
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2022-02-12 13:35:23 -05:00 |
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matlabbe
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f584f42ea4
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rtabmap/dbreader: save odometry covariance in pose prior link when in localization mode and saving localization data.
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2022-02-06 20:17:46 -05:00 |
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matlabbe
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b44b212218
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Bump 0.20.19. OdomF2M: scale x0.1 covariance when local bundle adjustment is done. Rtabmap: fixed GT localization error when RGBD/MaxOdomCacheSize is used.
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2022-02-06 17:41:53 -05:00 |
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matlabbe
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9ad6b626e4
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Updated how covariance is computed for 2d-3d estimation without query's depth image available (instead of computed from reprojection error)
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2022-02-05 16:41:43 -05:00 |
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matlabbe
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32ad92e2d2
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GraphView: added optional overlay to better see odometry cache constraints. rtabmap: keep global loop closure id in statistics when proximity is detected on same node.
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2022-02-03 21:58:36 -05:00 |
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matlabbe
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c99203bbed
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CMake: added explicit opencv modules to avoid VTK6-VTK7 issues on Focal (vtk6 dependency coming with opencv_viz 4.2 module and vtk7 coming from PCL)
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2022-02-01 13:40:02 -05:00 |
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matlabbe
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20d873c29e
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android: fixed backward compatibility target folder for android <30. Open: files are sorted by last modified date.
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2022-01-30 15:47:08 -05:00 |
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matlabbe
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315350dbfc
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CCCorelib: updated wrong output check. Updated RGBD/MaxOdomCacheSize approach to work properly with Rtabmap/CreateIntermediateNodes=true.
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2022-01-28 14:48:32 -05:00 |
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matlabbe
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402afc07ed
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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.
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2022-01-27 17:57:56 -05:00 |
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matlabbe
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5b3a7d5674
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Localization: fixed always rejected localization when proximity and global loop closures are both detected at the same time at two different locations (clearing proximity detections from odometry cache if global loop closures are good).
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2022-01-26 15:39:09 -05:00 |
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matlabbe
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d56692640e
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DBViewer: fixed grid cell size in 3D View. Memory/Grid, using Icp/PointToPlaneGroundNormalsUp parameter when normals are computed. Grid: fixed 2D noHit ray tracing.
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2022-01-25 18:10:43 -05:00 |
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matlabbe
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e2dc3ac67e
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OctoMap: fixed empty occupancy not correctly updated when ray tracing is done on more than one local map
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2022-01-23 16:29:11 -05:00 |
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matlabbe
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83d1e27b81
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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.
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2022-01-20 18:56:38 -05:00 |
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matlabbe
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e048d8ae72
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Fixed compilation error without octomap
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2022-01-19 19:53:49 -05:00 |
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matlabbe
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5b868d665f
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Grid/Sensor=2: fixed viewpoint offset bug of the camera.
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2022-01-19 19:27:32 -05:00 |
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matlabbe
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de62bbb9b7
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Grid: don't filter max range before doing ray tracing (to ray trace empty space).
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2022-01-17 14:22:11 -05:00 |
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matlabbe
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7a5c50cb0e
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Fixed compilation warnings
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2022-01-16 15:27:52 -05:00 |
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matlabbe
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9622fe8393
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Parameters: set default Icp/PointToPlaneRadius to 0 to avoid 'Both radius and K defined' error when using 3d lidar.
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2022-01-16 12:56:18 -05:00 |
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matlabbe
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03a106ea36
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Fixed build without g2o
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2022-01-15 13:00:12 -05:00 |
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matlabbe
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29a2b64a0c
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RGBD/NeighborLinkRefining: do one proximity detection by time if intermediate nodes are added. Optimized radiusFiltering(). Updated default parameters of proportionalRadiusFiltering().
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2022-01-14 18:47:57 -05:00 |
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matlabbe
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51f6b32f47
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Fixed windows build (https://ci.appveyor.com/project/matlabbe/rtabmap/builds/42207812)
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2022-01-14 14:33:32 -05:00 |
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matlabbe
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9e0173f4cb
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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.
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2022-01-14 13:36:01 -05:00 |
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matlabbe
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12c2dd707c
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Localization with Reg/Force3DoF=true, fixed how graph optimization errors are computed (use only x,y,yaw).
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2022-01-12 16:59:03 -05:00 |
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matlabbe
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fcec98105d
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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.
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2022-01-12 16:14:42 -05:00 |
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matlabbe
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a4ec95963e
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Fixed a debug information
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2022-01-11 15:59:53 -05:00 |
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matlabbe
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49353b134c
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LaserScan: fixed destination format when source is empty with operator+
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2022-01-11 15:32:30 -05:00 |
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matlabbe
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145430cafd
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Fixed noetic build (g2o error)
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2022-01-03 16:05:11 -05:00 |
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matlabbe
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5194f40794
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Fixed g2o build error with melodic/noetic versions
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2022-01-03 15:37:06 -05:00 |
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matlabbe
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b2f13c2772
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android: fixed g2o seg fault (CACHE_SE3_OFFSET not registered)
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2022-01-02 23:30:55 -05:00 |
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matlabbe
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a3823594a4
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Converted an assert to an error.
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2021-12-26 14:53:22 -05:00 |
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matlabbe
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3071da42f3
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Optimizer: don't fix roll/pitch on root node if gravity constraints are fed
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2021-12-25 16:57:03 -05:00 |
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matlabbe
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93ee8f9b30
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Working dir path: convert ~ to Home for convenience. Localization: don't show "cannot optimize" warning when RGBD/MaxOdomCacheSize=0
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2021-12-24 18:24:44 -05:00 |
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matlabbe
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7ca881453e
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RGBD/StartAtOrigin: set first node of the graph, not Identity
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2021-12-20 17:01:08 -05:00 |
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matlabbe
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8662eb0dd7
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Statistics: added OdomCache data for debugging
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2021-12-18 18:53:59 -05:00 |
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matlabbe
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33130890fd
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Localization: Improved resulting pose in case there are gravity constraints. iOS: clear odom trace when not visible, fixed opt mesh not correctly aligned with graph on loading when switching RGBD/OptimizeFromGraphEnd.
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2021-12-18 15:37:49 -05:00 |
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matlabbe
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bca8b30832
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Localization 2d Slam: automatically rotate landmark links to have z-axis up for correct 3DoF optimization. When RGBD/MaxOdomCacheSize is used, wait for at least 2 temporal localizations before adjusting the pose (to avoid big jumps when only one constraint is used).
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2021-12-17 11:00:37 -05:00 |
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matlabbe
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0e62050824
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rtabmap: fixed graph re-optimized with only virtual links in localization mode (which can make gtsam crash because of under constrained covariance)
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2021-12-12 13:07:02 -05:00 |
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matlabbe
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cf5e90238b
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Statistics: added LoopOdom_correction stats for landmark detections.
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2021-12-10 21:58:11 -05:00 |
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matlabbe
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8cf12c6135
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Improved localization mode accuracy (decreasing jumps on consecutive loop closures or landmark detections). Updated usage of parameter RGBD/MaxOdomCacheSize (default 0->10)
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2021-12-10 17:48:36 -05:00 |
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matlabbe
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4ab0090ecd
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Support feature-only rectification when using external extracted features.
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2021-12-06 09:26:10 -05:00 |
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matlabbe
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580e35afb1
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Fixed missing 3D keypoints when RGBD/LoopClosureReextractFeatures=true and Reg/Strategy=1 (https://github.com/introlab/rtabmap_ros/issues/668). DBViewer: fixed wrong poses optimization with GTSAM when showing scans of loop closures by proximity by space (multiscan) while there are GPS priors.
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2021-12-05 17:38:53 -05:00 |
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matlabbe
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baae713471
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Fixed unknown lines for octomap 2D grid projection. (https://github.com/introlab/rtabmap_ros/issues/684)
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2021-11-30 20:34:51 -05:00 |
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matlabbe
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67710ef94c
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Export: optimized camera projection RAM usage. Added --texture_angle and --cam_projection_decimation options.
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2021-11-21 17:10:57 -05:00 |
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matlabbe
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090ae0c444
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DbViewer: added option to show disparity instead of right image in main views for stereo data
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2021-11-20 16:36:54 -05:00 |
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matlabbe
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5fcbe2ed70
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iOS: fixed install script (#785 #741)
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2021-11-16 18:11:40 -05:00 |
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matlabbe
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9ae2c46546
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CMake: fixed build without Python and Ceres if WITH_PYTHON and WITH_CERES are OFF (even if found by third party libraries, related to #783).
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2021-11-15 18:00:17 -05:00 |
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