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c9472962d7694c7925510242f7349ea0b0c78867
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297 Commits

Author SHA1 Message Date
matlabbe
c9472962d7 bumpt 0.20.9 version 2021-01-24 13:48:05 -05:00
matlabbe
aa31a900fb fixed trusty build (#682) 
* fixed trusty build (g2o backward compatibility)
 2021-01-20 22:54:48 -05:00
matlabbe
28e624e6b2 fixed g2o build with c++14 #681 2021-01-20 10:45:45 -05:00
matlabbe
814a243693 Add boost link dir on Windows #678 2021-01-17 15:06:47 -05:00
matlabbe
c49785061f Added PyDetector (#677) 
* Added PyDetector. Refactored PyMatcher.

* Fixed python freezing with multi-threading
 2021-01-17 01:56:27 -05:00
matlabbe
0bc483b6d3 Added pdal optional dependency (export to LAS, E57, ...) 2021-01-14 15:49:18 -05:00
matlabbe
1a967127d9 Bump 0.20.8 version. Parameters: updated default of Vis/CorGuessWinSize=40 (was 20), GFTT/MinDistance=7 (was 3), Optimizer/GravitySigma=0.3 if built with g2o or gtsam. Those parameters help for smooth tracking on latest sensors with higher resolution and use IMU by default if available. Updated docker jfr2018 to use original parameters. CameraStereoZed: wait for imu to be available before sending frames (Zed-m and Zed2). 2021-01-08 13:04:24 -05:00
matlabbe
b5cae38eb9 Fixed -lBoost:timer not defined when building with latest GTSAM binaries 2020-12-18 17:01:11 -05:00
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
ad44b65a28 Allow partial support for AliceVision v2.3.0 (see #564 for remaining issues) 2020-11-20 13:42:56 -05:00
matlabbe
b95537a680 Added c++11 definition when latest libpointmatcher is found 2020-11-06 16:37:29 -05:00
matlabbe
596cd10b69 Fixed -lBoost::timer not found on ubuntu18.04/arm64 (#587) 2020-11-01 13:08:55 -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
32eb266c79 fixed CMP0020 cmake warning 2020-10-09 11:10:21 -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
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
8d63e9eae1 Fixed 'cannot find -lBoost::thread' build error when building only with libpointmatcher dependency 2020-08-14 12:25:03 -04:00
matlabbe
0a9d237ac2 0.20.3: CameraRealSense2: Fixed D435i accel/gyro profile selection to avoid crash. Fixed Integrated D415 fix (#469) 2020-08-01 20:29:47 -04:00
matlabbe
e800662bac Fixed build with OpenCV >= 3.4.11 2020-07-02 16:29:23 -04:00
matlabbe
33e9abdfad Mac: fixed crash when discarding a signature (not moving enough) with self refenced links. Fixed link error with realsense2 library on Mac. 2020-07-02 12:54:43 -04:00
matlabbe
274903dd63 Rtabmap::getSignatureCopy() added withWords and withGlobalDescriptors options 2020-06-22 22:56:25 -04:00
matlabbe
ff5695878c Rtabmap::init() added loadDatabaseParameters argument for convenience (default false to be backward compatible) 2020-06-08 10:35:12 -04:00
matlabbe
511be5f663 Fixed build with pcl 1.11 (#550). Fixed pcl 1.11 warnings (boost->std). 2020-05-27 16:35:33 -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
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
360a153565 Parameters: Renamed SuperGlue group to PyMatcher group. Added OANet python script. 2020-05-20 09:45:39 -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
c19da22ca4 0.20: added GlobalDescriptor table in database 2020-05-03 21:46:25 -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
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
6074e84653 Fixed compilation issues with libtorch 1.4.0 2020-04-17 08:32:44 -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
9c62a11316 fixed #525 2020-04-03 17:28:23 -04:00
matlabbe
e1ecf55d03 fixed 14.04 build 2020-02-05 20:46:15 -05:00
matlabbe
c9f21e7ebf fixed #498 2020-02-05 20:01:02 -05:00
matlabbe
f9e818c900 CMake: alice vision option off by default (because it needs to be modified to be compatible https://gist.github.com/matlabbe/469bba5e7733ad6f2e3d7857b84f1f9e) 2020-01-06 13:39:35 -05:00
matlabbe
85e7c9cf04 fixed undefined reference to vtkSmartVolumeMapper::SetRequestedRenderModeToRayCast() when using PCL 1.9.1 2019-11-21 04:07:38 +00:00
matlabbe
179f17d267 0.19.6: Added auto brightness/contrast and texture format options to multiband approach. rtabmap-export moved from examples to tools directory. 2019-11-03 14:10:02 -05:00
matlabbe
2afa76c07c AliceVision integration, see util3d::multiBandTexturing() 2019-10-28 21:16:02 -04:00
matlabbe
c16b22de57 Added alicevision dependency 2019-10-24 08:56:23 -04:00
matlabbe
536f001479 Added OptimizerCeres class (Optimizer/Strategy=3) 2019-08-17 03:55:04 -04:00
matlabbe
4b118ae660 Added FastCV support (see FAST/CV parameter). VWDictionary: loading fixed dictionary only on updates (to avoid loading it multiple times when memory is reset). 2019-08-14 12:09:56 -04:00
matlabbe
6767c2ade2 0.19.5: added Icp/RangeMin and Icp/RangeMax parameters 2019-08-01 16:21:01 -04:00
matlabbe
487caab349 CMake: added RTABMAP_QT_VERSION option (default auto) 2019-07-31 10:37:59 -04:00
matlabbe
0973f48b2c CameraK4A: added finding lib on linux 2019-07-10 12:34:13 -04:00
matlabbe
3c7719f6d8 Added CameraK4A driver (only MKV playback supported yet). Fixed build with realsense2 support on Windows. Preferences: added imu filtering parameters to ini file. 2019-07-09 20:48:09 -04:00
matlabbe
d205683eb5 Added parameters Vis/MeanInliersDistance and Vis/MinInliersDistribution 2019-06-16 18:54:39 -04:00
matlabbe
e6f471d88e Added imu to odom bundle adjustment. Added IMUFilter classes. Changed Aruco parameter prefix to Marker. Zed: publishing IMU data. 2019-05-07 18:57:53 -04:00