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 e4cb59b74d (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 ad44b65a28 (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 Molina
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
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
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
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
matlabbe
bedc771fa4
Rtabmap: added getNodesInRadius() public functions
2020-09-28 12:03:42 -04:00
matlabbe
933ac736f1
Increased version 0.20.4. Added parameter Kp/ByteToFloat (default true to use less memory with kdtree and binary descriptors). Memory/Sqlite3: Setting weight to -9 for invalid nodes (to make sure they are not reloaded from database, to fix a graph reduced issue). Added 12-SURF/FREAK detector approach. rtabmap-info: added number of nodes in each sessions.
2020-09-28 10:29:14 -04:00
matlabbe
c5158cade5
Fixed loop closure rejected if the camera on the robot changes orientation accordingly to base frame ( http://official-rtab-map-forum.67519.x6.nabble.com/Mapping-with-multiple-stereocameras-localization-with-multiple-monochrome-monocular-cameras-tp6647p6953.html ). The reason why that check was there was because ICP flipping 180 deg in some cases, but should be already detected with that commit 7a1cf84b08 (diff-b65a61c23197f7ff77a877f62b630b2cR283).
2020-09-27 14:38:36 -04:00
matlabbe
eef0a23b1b
Reprocess: added --skip option (to skip frames when reprocessing). Rtabmap: always save Loop/Map_id/ stat. UPlot: export NaN insted of NA for invalid values (compatible with octave). GraphViewer and ImageView: added support for PDF output format, also changed default directory to User's Pictures standard folder.
2020-09-21 19:32:48 -04:00
matlabbe
4e6e404951
Fixed "[Setjac] infinite jac" error when Vis/ForwardEstOnly is false. OptimizerG2O: Added a check to ignore invalid 3d points.
2020-09-15 15:18:49 -04:00
matlabbe
a24211583d
Rtabmap: init Bayes prediction when loading a database
2020-09-11 10:55:33 -04:00
matlabbe
bd80811ea1
Stats: added Loop/Distance_since_last_loc
2020-09-10 14:07:53 -04:00
matlabbe
cabf03af44
Memory: fixed keypoints3d wrongly copied when not using odom features
2020-09-08 21:24:47 -04:00
matlabbe
e0973fea92
CameraK4A: added imu support with playback. Fixed windows build error.
2020-09-04 14:10:32 -04:00
matlabbe
49cb470b8d
CameraK4A: refactored to unify playback and real device code. Fixed ir option (with rectification).
2020-09-04 12:48:18 -04:00
matlabbe
d2784095a3
Added K4A status on --version. About: added Mynteye status
2020-09-04 10:39:15 -04:00
matlabbe
23d8353540
Rtabmap::detectMoreLoopClosures, use optimized graph as guess if RGBD/ProximityOdomGuess is true. Reprocess: added options to generate scan from depth image and/or pre-process input scans.
2020-08-28 16:24:07 -04:00
matlabbe
24052a6ebe
fixed pcl::getAngle3D not found error on latest pcl version ( 6df3e602a7 (diff-8e08415b9972a447d115dbca3f8fa0a1))
2020-08-25 10:56:30 -04:00
