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Commit Graph
632 Commits
Author SHA1 Message Date
Borong Yuan 07c24e95ba start outputting data after static initialization (#1171) 
* start outputting data after static initialization

* restore pixel noise to 1
 2023-11-28 13:20:45 -08:00
matlabbe aaff1abc4f Updating orbslam3 v1 support (#1152) 
* Refactoring ORB_SLAM3 integration. Fixed realsense2 inter IMU stamps.

* Renamed OdometryORBSLAM -> OdometryORBSLAM2

* revert a change

* Fixed build without orb_slam

* Source camera: added feature detection option

* Fixed jfr2018 docker files
 2023-11-19 01:05:52 -08:00
matlabbe 56552afa6c Tuning localization priors (added RGBD/LocalizationPriorError parameter) (#1156) 
* tuning localization priors (for https://github.com/introlab/rtabmap_ros/issues/1057)

* Set prior error value to same than old default value
 2023-11-05 15:14:11 -08:00
Borong Yuan 948e15c72c Supplement and Adjust OpenVINS Parameters (#1145) 
* set the PrintLevel of OpenVINS to be equivalent to that of ULogger

* use global FAST settings

* add online calibration params

* add dynamic initialization params

* add necessary feature initializer options

* fix segfault of OdomImageDecimation

* add mask settings

* use depth as mask in OpenVINS

* set twist covariance

* restore default values of VisMinDepth and VisMaxDepth
 2023-10-21 14:24:51 -07:00
Borong Yuan f06cc0b17f OAK bug fixes and improvements (#1143) 
* *fix distortion correction problem of small FOV devices
*remove deprecated IMU firmware update API
*add useSpecTranslation option

* reduce depth image noise and simplify calculation for compressed transport
 2023-10-07 20:40:30 -07:00
Borong Yuan 67c6a15b93 OpenVINS Update (#1107) 
* fix openvins build

* Add OpenVINS params to UI

* update OdometryOpenVINS implementation

* the pixel noise of most cameras should be less than 3 after factory calibration

* propagation and update are only performed after camera measurement feeding

* fix openvins feature reprojection
 2023-10-02 07:53:29 -07:00
Borong Yuan afd10b1aa6 add histogram equalization (#1137) 2023-09-21 15:46:10 -07:00
matlabbe 424dc90dce Added Vis/PnPVarianceMedianRatio parameter (to tune pnp computed covariance) 2023-07-27 16:13:30 -07:00
matlabbe 3feb03cf35 Added Vis/PnPSamplingPolicy parameter (opengv "multi" ransac) 2023-07-22 11:05:21 -04:00
Borong Yuan 55a84cfdaa add depthai superpoint detector 2023-06-17 16:53:25 +08:00
Borong Yuan d031d79369 add depthai gftt detector (#1047) 
* add depthai feature detector draft

* update depthai gftt config

* optimize to detect more features
 2023-06-11 12:57:26 -07:00
matlabbe d3facb1a84 Added alpha=-1 option 2023-06-05 18:59:59 -07:00
Borong Yuan 31d975acd5 Add alphaScaling option 2023-05-31 22:15:16 +08:00
Borong Yuan ff83b14b49 Add options to enable IR featues on OAK Pro models 2023-05-18 01:48:38 +08:00
matlabbe ba33c080bc Added RGBD/LocalizationSmoothing parameter and fixed related issues (#1032) 
* removed code

* added landmark in graph optimization checks

* reverted smoothing, only if there is already a previous localization link

* Added RGBDLocalizationSmoothing parameter

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml
 2023-05-14 13:03:52 -07:00
matlabbe e54195c47f ZED SDK 4 support (#1013) 2023-04-16 18:47:15 -07:00
matlabbe 8b8a512cbb Added Icp/ReciprocalCorrespondences (new default true) 2023-04-06 20:57:35 -07:00
matlabbe 141f2d3334 DbViewer: added align gps checkbox 2023-04-05 22:19:54 -07:00
matlabbe 70c3d5d97f DbViewer: added convenient option to rotate the occupancy grid (affect only optimized graph for localization mode). 2023-02-22 17:20:09 -08:00
matlabbe 437ed09335 DBReader: added ignore priors option (added to gui and reprocess), Statistics: added info about distance/angle of the localization, RegVis: fixed inliers mean distance on multicam setup, About: added MRPT info 2023-02-10 17:29:10 -08:00
matlabbe 1297714271 Bump version 0.20.22. Refactored RtabmapThread commands handling. MainWindow/RtabmapThread/Statistics/UVariant: added new option to republish missing data on GUI side. MainWindow: fixed 1 sec lag when waypoints are used. Parameters: added Rtabmap/MaxRepublished (moved from rtabmap_ros). OccupancyGrid: fixed ground cells ignored if there are empty cells, also don't add pose in addedNodes if corresponding node was not in cache. 2022-10-28 12:25:48 -07:00
matlabbe df888962f4 depthai: fixed app freezing if oakd device (oak-d lite) doesn't have imu and imu is requested. 2022-10-24 11:13:27 -07:00
matlabbe 769ace86ce Added oak-d lite menu option (depthai: imu is now optionnal) 2022-10-23 18:15:23 -07:00
matlabbe fdb78d33b0 DBViewer: added optimzed and prior poses in node details. Reprocess: add start_s, stop_s and pub_loops options. 2022-10-12 13:05:01 -07:00
matlabbe 1e9b090624 Gui: Added re-localization colors on odom cache graph. Added frame labels (map, odom). 2022-10-04 16:27:33 -07:00
matlabbeandmathieu86 fa31affea0 Pnp multicam refactoring (#902) 
* gui: fixed wrongly showing landmark rejected when it was not (because a loop closure was rejected at the same time)

* Added Vis/PnPMaxVariance and RGBD/InvertedReg parameters. Implemented inlier distribution computation for multicam.

* On loc/small displacement: don't remove from odom cache if loop is rejected (maybe first loc)

* Loc: don't prune odom cache on small movement if delayed loc is enabled

* loc/small movement: cleanup bidirectional links

* Cov/PnP: fixed objPt transform to estimate depth

Co-authored-by: mathieu86 <[email protected]>
 2022-09-24 12:29:42 -07:00
matlabbeandmathieu86 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 <[email protected]>
 2022-07-20 15:20:14 -04:00
matlabbe 83c1adfd1e Updated illumination invariant paper documentation 2022-06-26 20:46:08 -07:00
matlabbe b646c5e1db Marker priors (#859) 
* Added MarkerPriors parameter

* Fixed Marker/Priors format to use '|' instead ';'. Fixed landmark priors not used.

* Marker: added priors variance parameters

* g2o: refactored backward compatibility includes

* fixed build with old g2o
 2022-04-28 09:18:30 -04:00
matlabbe e46af2c3cd DbViewer: Added GroundTruth pose in node info labels 2022-03-31 12:00:52 -04:00
matlabbe 191e165a28 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. 2022-02-12 13:35:23 -05:00
matlabbe 402afc07ed 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. 2022-01-27 17:57:56 -05:00
Ben 2dc7b59b05 allow negative min disparity in StereoBM dialog (#817) 2022-01-24 17:02:47 -05:00
matlabbe 83d1e27b81 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. 2022-01-20 18:56:38 -05:00
matlabbe 9e0173f4cb 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. 2022-01-14 13:36:01 -05:00
matlabbe fcec98105d 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. 2022-01-12 16:14:42 -05:00
matlabbe e5b4973ddc GUI: Added Orbbec Astra icon 2021-12-29 15:53:40 -05:00
matlabbe f3095a2e0a Calibration dialog: fixed right panel width size. Win32: packaging missing cudnn dlls (when torch is used) 2021-12-29 15:13:13 -05:00
matlabbe 8cf12c6135 Improved localization mode accuracy (decreasing jumps on consecutive loop closures or landmark detections). Updated usage of parameter RGBD/MaxOdomCacheSize (default 0->10) 2021-12-10 17:48:36 -05:00
matlabbe 090ae0c444 DbViewer: added option to show disparity instead of right image in main views for stereo data 2021-11-20 16:36:54 -05:00
matlabbe dbecaac809 Moved bin dir inside build directory (#784) 
* Moved bin directory inside build directory (to make easier different builds with same source directory)

* Switched include order to avoid problems with remaining Version.h still in source directory taen before the one in binary dir. Fixed android build (updated res tool search path).

* workflow-cmake: fixed path to bin directory
 2021-11-14 19:29:37 -05:00
matlabbe 6c07a670ee Added OdometryOpen3D 2021-11-13 19:45:57 -05:00
matlabbe ec2aa5c952 OpenNI2: depth shift can be negative. MainWindow: postProcessing() refactoring (split with and without dialog). 2021-11-09 10:16:12 -05:00
matlabbe 7c5acd8970 Parameters: Changed Grid/FromDepth to Grid/Sensor to add a new choice to use both scan and depth for local grids. Increased version to 0.20.15. 2021-10-29 20:05:12 -04:00
matlabbe ab5fd5018b DbViewer: added update all landmark covariances menu action, also enabled edit constraint on landmark links. Covariance can be set to 9999. 2021-10-06 11:34:40 -04:00
matlabbe 8c56b5b1ce CMake: added WITH_OPENMP option (to be able to disable it). CameraOpenNI2: Added depth decimation parameter. CLAMS: can apply distortion model to smaller images. 2021-09-24 17:31:16 -04:00
matlabbe 5f65618d40 Added OdomLOAM/Resolution parameter 2021-09-22 10:48:59 -04:00
matlabbe 14b56813d3 Updated for AliceVision >=2.4.0 compatibility. Export: added --multiband_contrib option. 2021-09-19 20:20:45 -04:00
matlabbe 3ba02d2ef6 Added OdometryFLOAM (Odom/Strategy=11) 2021-09-09 17:38:54 -04:00
matlabbe ed68fe777b Added more options for multiband texturing 2021-08-16 13:14:02 -04:00