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398 Commits
Author SHA1 Message Date
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 bbb3c56008 Fixed android build 2020-10-16 14:55:50 -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 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 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