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 https://github.com/introlab/rtabmap/commit/7a1cf84b0845f430fdaf0800c0960c9795a73ec4#diff-b65a61c23197f7ff77a877f62b630b2cR283 .
2020-09-27 14:38:36 -04:00
matlabbe
cabf03af44
Memory: fixed keypoints3d wrongly copied when not using odom features
2020-09-08 21:24:47 -04:00
matlabbe
775c9318d3
Fixed Too large rotation detected message
2020-08-21 15:57:28 -04:00
matlabbe
6741355842
Ignore invalid GPS values (NaN #570 )
2020-07-29 10:39:34 -04:00
matlabbe
169b79215d
Memory::computeIcpTransformMulti() added support for 3d scans with RGB channel (L515)
2020-07-08 13:43:28 -04:00
matlabbe
542f06ec24
ARCore: features from arcore are used directly for keypoints
2020-06-29 15:08:24 -04:00
matlabbe
c19f81ac12
Memory::getNodeData() removing not wanted data if the node with all its data has been found in working memory.
2020-06-22 22:29:26 -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
6e55525a7b
Memory::getNeighborsId() fixed no link returned when looking in database
2020-05-30 09:20:32 -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
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
c19da22ca4
0.20: added GlobalDescriptor table in database
2020-05-03 21:46:25 -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
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
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
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
607dc67135
IMU: removing yaw from local imu transform when creating gravity links
2020-04-10 19:24:45 -04:00
matlabbe
cdff33b1c2
Added Mem/LocalizationDataSaved parameter
2020-04-05 19:21:20 -04:00
matlabbe
5122d9ac02
Memory: fixed fisheye distortion index error when rectifying only features
2020-03-24 11:46:16 -04:00
matlabbe
bd979cca34
Fixed rejected 180deg loop closure with multi-camera setup
2020-02-19 14:35:37 -05:00
matlabbe
f7540196d4
Fixed many compilation warnings (c++14, like pedantic warnings)
2020-01-30 17:23:02 -05:00
matlabbe
350d3cd85f
CameraRealSense2: fixed wrong IR image index. DBReader: fixed imu not published. OdometryF2M: use IMU roll/pitch values when IMU is used (reducing variance on those angles before BA).
2019-09-13 21:45:13 -04:00
matlabbe
e968fd3ef4
Remove landmark links when a node is deleted (and removed from the graph) #441
2019-09-01 13:17:44 -04:00
matlabbe
50fdc210c9
Memory: added some warnings about pre-postdecimation parameters, updated their description (removed negative decimation comment)
2019-06-17 10:19:54 -04:00
matlabbe
e09a872fa2
GUI: added word wrap to transform label in loop closure viewer. Memory: creating a RegistraitonVis for stereo from motion if memory's registration pipeline is not vis only.
2019-06-02 14:59:11 -04:00
matlabbe
8cb923b332
Reduced local bundle on loop closure iterations to 5. Updated graph::filterLinks() to handle selfRef link type. DbViewer: removed gravity constraints from constraints view.
2019-06-01 21:43:13 -04:00
matlabbe
d5d00fbd7d
merged master to imu_feature
2019-05-31 15:39:49 -04:00
matlabbe
e887d462ce
Memory: Added parameter Mem/UseOdomGravity, adding kGravity links when creating a node if IMU is present or Mem/UseOdomGravity is set. Fixed OpenCV4 related build errors on stereo fisheye rectification code. Signature: changed links from map to multimap to support having multiple self references (prior, gravity constraints...). DBReader: publish IMU orientation if a gravity link is detected.
2019-05-31 15:36:35 -04:00
matlabbe
cd6e51a968
fixed #401
2019-05-30 10:04:40 -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
matlabbe
d4585960fc
RegVis: fixed orboctree descriptor extractions. KeypointItem: fixed placeholder gray scale for yellow features.
2019-04-22 19:50:41 -04:00
matlabbe
77ae8e108a
0.19.2: Refactored SensorData interface. DBReader: Fixed GPS not published. #345 : both g2o and gtsam working with GPS. g2o: added gravity edges.
2019-04-09 20:05:24 -04:00
matlabbe
d089e95e5a
MarkerDetection: added automatic marker's length estimation when depth image is provided (and when Aruco/MarkerLength is 0).
2019-02-22 20:01:09 -05:00
matlabbe
d6ca37a9e7
Integration of OpenCV's ArUco Marker Detection (see new parameter "RGBD/MarkerDetection")
2019-02-18 18:19:55 -05:00
matlabbe
08f3e6c08e
RGBD/LocalBundleOnLoopClosure: disabled on neighbor refining and fixed Reg/Force3DoF ignored
2019-02-17 21:57:52 -05:00
matlabbe
38b8746507
Added Mem/ImageCompressionFormat parameter (default .jpg)
2019-02-11 15:23:38 -05:00
matlabbe
0192cac18a
updated recovery tool to support databases without image data kept
2019-01-28 16:11:05 -05:00
matlabbe
f50018776f
Fixed Icp/CorrespondenceRatio not updated if set in parameters for proximity detection
2019-01-21 16:55:38 -05:00
matlabbe
0f8c70bcdf
g2o/gps support: added edge_se3_xyzprior.h to rtabmap repo. Fixed build for kinetic g2o version.
2019-01-03 15:49:25 -05:00
TSC21
308b1484e0
OptimizerG2O: check inverse of the information matrix values
2018-12-27 15:58:25 +00:00
TSC21
8beea1984e
Memory: pass globalPoseCovariance without inverting it
2018-12-27 15:06:29 +00:00
TSC21
97f956f138
Memory: readd GPS data as priors
2018-12-26 15:37:22 +00:00
matlabbe
200ec8e5db
0.18.3: added landmarks (graph optimization, localization, navigation)
2018-12-07 18:29:41 -05:00
matlabbe
283c1df00c
Fixed labels not correctly shown. Fixed planner not sending next goals when memory management is disabled.
2018-11-19 18:00:24 -05:00
matlabbe
8333677dc6
Improved/optimized Rtabmap timing performance for large datasets
2018-11-09 17:28:55 -05:00
matlabbe
71ae076b44
BayesFilter: improved performance when prediction didn't change or only a new id is appended to prediction. Memory: fixed seg fault when using local bundle adjustment on loop closure and memory management is enabled.
2018-11-06 14:45:57 -05:00
matlabbe
c2b1a9fbd7
Fixed long loading time of large working memory
2018-11-05 11:50:49 -05:00
matlabbe
c14e20330f
Fixed SIFT octave issue causing registration to always fail. Added Bundler export points option.
2018-10-24 20:01:57 -04:00
matlabbe