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1168 Commits

Author SHA1 Message Date
matlabbe
1db17dd118 rtabmap-report: added loc_delay option. Db info: added unused space 2020-09-03 15:23:48 -04:00
matlabbe
e800662bac Fixed build with OpenCV >= 3.4.11 2020-07-02 16:29:23 -04:00
matlabbe
8fa216bd9d Fixed default odom gravity sigma value to -1. Preferences: set 720p by default for K4A driver 2020-07-01 14:04:19 -04:00
matlabbe
0809946c66 Windows: Fixed stereoRectifyFisheye.h 'cannot convert from cv::Mat to CvMat' compilation error with opencv >=3.4.4. Fixed k4a/k4atypes.h not found on guilib compilation. 2020-06-30 23:18:31 -04:00
matlabbe
6e1f07e097 CameraK4A: fixed IMU local transform, fixed some compilation warnings. 2020-06-22 19:42:55 -04:00
matlabbe
1ca2c25a10 DbViewer: fixed empty from scan when refining proximity link by space 2020-06-22 13:07:27 -04:00
matlabbe
fb6659e29d CloudViewer: reduced ambient lighting for textureMesh with VTK>=7 2020-06-18 11:28:53 -04:00
matlabbe
db00f55981 CloudViewer: fixed texture not shown with VTK>=7 2020-06-18 10:59:42 -04:00
matlabbe
6029b6283d Rtabmap: Refactored how fake odom is generated in localization mode when no odom is provided. Trigger new map in localization mode also clears last localization pose if RGBD/SavedLocalizationIgnored is true. 2020-06-08 10:14:21 -04:00
matlabbe
86ac63ab19 UPlot: changed float to qreal (double). Added UPlot::frameData() function. 2020-06-07 11:55:27 -04:00
Thomas Kircher
de5610bd08 Added preferences for Azure Kinect camera (#559) 
* Added Kinect for Azure menu option

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

* Added ifdefs to fix build

* Added preliminary K4A device support

* Edits to K4A camera implementation

* K4A minor initialization fix

* Typo

* Another initialization fix

* Update CameraRGBD tool to display K4A camera output

* K4A added model parameter so we can create maps

* Added combo boxes for K4A options

* Functionalized combo boxes for K4A options

* Finished adding K4A preferences
 2020-06-04 11:34:37 -04:00
matlabbe
7a9a5d2ef9 CloudViewer: updated camera clipping 2 2020-06-03 14:50:59 -04:00
matlabbe
b6d4c6f024 CloudViewer: fixed camera clipping the grid 2020-06-03 13:41:36 -04:00
matlabbe
e2007a8f82 CloudViewer: fixed build with vtk<6 2020-06-01 22:18:45 -04:00
matlabbe
bda18bc517 CloudViewer: added EDL shading option 2020-06-01 21:44:42 -04:00
matlabbe
caffb56246 DBViewer: fixed StereoSGBM panel not shown. Odometry: fixed Odom/GuessSmoothingDelay type 2020-05-31 13:26:54 -04:00
matlabbe
d5cfd8013d CameraMyntEye: added setIrControl() 2020-05-31 12:17:14 -04:00
matlabbe
415a2778f1 Added Features2d::limitKeypoints() with grid options. Odometry: if imu is provided and no guess is provided, the change of orientation of imu is used for rotation guess (overwrite rotation from Odom/GuessFromMotion). OdometryInfo: added gravity errors when imu is used. Preferences: added a second GravitySigma parameter (overwritting Optimizer/GravitySigma for odometry is not negative) for F2M odometry panel. 2020-05-31 11:22:12 -04:00
matlabbe
45ddce938a CameraMyntEye/GUI: added manual/auto exposure option (default auto). Rtabmap: refactored warning when RGBD/OptimizeFromGraphEnd changes state. 2020-05-28 19:50:02 -04:00
matlabbe
6e0081e248 MainWindow: made mynteye action checkable. 2020-05-28 14:04:10 -04:00
matlabbe
ae5ce029d6 Fixed SIFT build issue between OpenCV 4.3.0 and OpenCV 4.3.0-dev 2020-05-27 10:35:18 -04:00
matlabbe
0902ccc340 Updated error message when SBA is done on multicam setup. 2020-05-26 11:04:23 -04:00
matlabbe
b40d9610ed Preferences: Fixed xfeatures2d features not available without nonfree on OpenCV >= 3.4.2 (https://github.com/introlab/rtabmap_ros/issues/422) 2020-05-25 17:31:13 -04:00
matlabbe
6acfc62196 CloudViewer: adjust frustum fov based on camera model (https://github.com/introlab/rtabmap_ros/issues/419) 2020-05-24 11:13:13 -04:00
matlabbe
eb9999d7b1 Rtabmap::addLink() supporting localization mode. MainWindow: fixed flickering camera frustum. 2020-05-21 21:26:29 -04:00
matlabbe
69a2aacc8e Parameters: added SIFT/RootSIFT parameter. 2020-05-21 17:09:20 -04:00
matlabbe
360a153565 Parameters: Renamed SuperGlue group to PyMatcher group. Added OANet python script. 2020-05-20 09:45:39 -04:00
matlabbe
609d45ac9b 💄 2020-05-19 15:33:32 -04:00
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
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
fbdc3780c7 Freenect: fixed imu local transform. Preferences: show imu filters with freenect driver. 2020-05-09 23:13:39 -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
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
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
31e5f7804e DbViewer: set horizontal layout by default 2020-04-23 15:27:31 -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
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
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
matlabbe
f575652456 0.19.7: added SuperPoint Torch feature support. RegVis: keep Feature2D detectors as class members instead of recreating them at each registration. 2020-04-16 17:59:45 -04:00
matlabbe
2ff582f06f DbViewer: fixed refineConstraints to make sure from id is the smallest id. Fixed correspondence lines drawn when images don't have the same size. 2020-04-15 14:54:36 -04:00
matlabbe
de354b901d RegInfo: added icpStructuralDistribution info 2020-04-14 17:06:53 -04:00