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Author SHA1 Message Date
Thomas Kircher
b542d6a0db Added Kinect for Azure menu option (#551) 
* Added Kinect for Azure menu option

* Reintegrated Kinect for Azure initialization code, fixed previous GUI commit

* Added ifdefs to fix build
 2020-05-19 15:03:36 -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
55509c6c27 Fixed build with OpencV 2.4 and Qt4 2020-05-13 15:15:52 -04:00
matlabbe
00695731fe SuperGlue: added traceback when there is an error with python. 2020-05-13 11:18:34 -04:00
matlabbe
09d2f7d232 Fixed android build 2020-05-12 22:04:03 -04:00
matlabbe
e906b40e50 Fixed build with opencv < 3.4.1 2020-05-12 10:26:08 -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
cc9fd439fe SuperPoint: updated descriptor normalization process to match exactly the implementation in SuperGlue. generateWords3DMono: use variance at 25% instead of 50% of the sqrd variance vector (to do the same than with PnP), also fixed return camera transform to include local transform of the camera model. rtabmap-matcher: updated default parameters when no depth images are used, added reproj error in title bar. 2020-05-10 14:13:41 -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
c44837a4cb Fixed build without SuperGlue 2020-05-09 21:41:38 -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
abc3ebee8c fixed #538 2020-05-09 11:48:06 -04:00
matlabbe
1af139134e Deprecated Rtabmap::get3DMap(), use Rtabmap::getGraph() instead with setting to true the data flags. Rtabmap::getGraph() now ignores children nodes. 2020-05-06 08:04:58 -04:00
matlabbe
7d377d26df Added Rtabmap::getSignatureCopy() 2020-05-05 13:26:40 -04:00
matlabbe
7041d5fd34 Fixed #541 2020-05-03 22:59:35 -04:00
matlabbe
c19da22ca4 0.20: added GlobalDescriptor table in database 2020-05-03 21:46:25 -04:00
matlabbe
50c3bb7ce9 fixed #540 0.19.7 2020-05-03 14:05:14 -04:00
matlabbe
0a4d0038cb Preferences dialog: fixed missing Vis/CorCrossCheck checkbox 2020-05-02 11:03:17 -04:00
matlabbe
d14efea4ac Added Vis/CorCrossCheck parameter (to use BFMatcher with crosscheck option instead of knn with NNDR for features matching). DBViewer: after refine or add constraint, lines indicating feature correspondences are now shown with different color if they are inliers. Re-enabled saving/loading settings of the ImageViews (feature color, line color, transparency...). 2020-05-01 22:12:56 -04:00
matlabbe
45223b306a Increased SPTorch/Threshold decimals for more fine tuning in DBViewer 2020-05-01 19:59:28 -04:00
matlabbe
3e9cff4053 fixed build with opencv 4.3 2020-05-01 09:51:54 -04:00
matlabbe
46886f2637 Report: added invert and ids options. Reprocess: show node id along map id when processing. 2020-04-30 17:00:09 -04:00
matlabbe
40804d9120 Statistics: added x,y,z map corrections. Report: added options --stats to show available statistics to plot in a database 2020-04-30 15:48:47 -04:00
matlabbe
803c99cee2 RegVis: fixed Vis/MaxDepth and Vis/MinDepth ignored when features are already extracted. 2020-04-30 15:07:32 -04:00
matlabbe
5d16ae8cfe DBViewer: fixed calibration not found on refining without re-extracting features, fixed visualized ids switched on refine in some cases, fixed clouds not shown in constraints view after refine without re-extracting features 2020-04-30 14:17:46 -04:00
matlabbe
ace93b0356 GUI: check mynteye when selected 2020-04-30 01:00:17 -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
b3eee0d7bf android: fixed yuv conversion bug on some devices, updated default driver based on which one is available and built with it. 2020-04-29 12:18:02 -04:00
matlabbe
37e0860b0c android: Fixed upload button not visible in Sketchfab activity, webview can be canceled 2020-04-27 17:35:06 -04:00
matlabbe
be57c2752d Fixed gravity links not added for optimization when both prior and gravity links are added to same nodes 2020-04-26 23:45:32 -04:00
matlabbe
1a3c90e898 cleanup some debug logs 2020-04-26 14:57:27 -04:00
matlabbe
06482d2378 ARCore: when tof camera is not available, use arcore point cloud as keypoints 2020-04-26 14:48:48 -04:00
matlabbe
3abdd22031 android: fixed state locked in processing after saving 2020-04-26 09:40:50 -04:00
matlabbe
66fca15cc6 Added rtabmap-info console tool 2020-04-24 13:45:41 -04:00
matlabbe
0c04b77cd7 Android: simplified default workflow (open -> scan -> optimize/export -> save) 2020-04-24 09:22:14 -04:00
matlabbe
6bb6178ae5 android: fixed Resume disabled when returning from Visualization 2020-04-24 08:23:17 -04:00
matlabbe
4ad92f0261 Docker: fixed android-## cloning branch 2020-04-24 07:33:48 -04:00
matlabbe
bc8d811f69 Dictionary: fixed L2SQR format for GPU BF 2020-04-23 22:56:42 -04:00
matlabbe
e8be3f21fa SuperPoint: fixed nms bug 2020-04-23 20:06:48 -04:00
matlabbe
31e5f7804e DbViewer: set horizontal layout by default 2020-04-23 15:27:31 -04:00
matlabbe
9b54aeee22 Android: set estimation type to default PnP 2020-04-23 15:13:58 -04:00
matlabbe
00d8375a2e RGBD/SavedLocalizationIgnored: if true, it is now starting at the origin (0,0,0) instead of null (not linked to graph). 2020-04-23 11:57:01 -04:00
matlabbe
046e0b7888 updated xenial tango docker file 2020-04-23 08:08:57 -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
012439aa0b Tango refactoring (#534) 
* Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving).

* Working android app on non-tango android phones (tested on x86_64 android emulator).

* fixed typo

* android: updated tango not available msg

* android: fixed build with latest android sdk/ndk

* Added ARCore limited support for pose and rgb streams.

* Added AREngine support. Don't assert if depth size is not a modulo of rgb size.

* Added ARCore shared camera support

* android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue)

* ARCore NDK: mapping with feature point cloud

* android: Added post build strip command to reduce native library size

* android: fixed some compilation issues

* android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters

* AREngine: min api 24

* android: Fixed build without AREngine

* android: fixed not available libraries for API<24

* android: fixed build with old cmake versions

* android: set arcore min api to 23

* android: fixed arengine error on start when not built with native arengine support

* android: fixed tango camera permission for api>=23

* Added bionic android docker files

* Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size

* CameraMobile: added exact display rotation for local transform

* DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label

* Android: fixed localization mode in visualization, fixed some tansitions between some UI states

* Android: Hide stop button when HUD is hidden. Updated About years.
 2020-04-22 15:05:07 -04:00
matlabbe
931d525874 Fixed build on kinetic (octomap version issue #529) 2020-04-20 09:58:00 -04:00
matlabbe
7cfc51315d CMake: find octomap instead of OCTOMAP #529 2020-04-18 16:03:09 -04:00
matlabbe
de4b17332d Preferences: fixed some not clickable external links 2020-04-17 16:06:56 -04:00