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
ff3c6c8e06
Update README.md
2020-06-02 19:59:21 -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
d00717b068
package.xml: removed explicit dependency to libvtk-qt ( https://github.com/introlab/rtabmap/issues/557 )
2020-06-01 11:42:35 -04:00
matlabbe
c7be9a23ee
OdometryF2M: refactored imu buffer
2020-05-31 14:33:20 -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
6e55525a7b
Memory::getNeighborsId() fixed no link returned when looking in database
2020-05-30 09:20:32 -04:00
matlabbe
7eae992d6f
rtabmap-report: fixed map.at() error if the database as empty statistics
2020-05-28 21:21:31 -04:00
matlabbe
2509b6ee09
Statistics: added MapToOdom and MapToBase stats
2020-05-28 21:04:01 -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
bf39c5295b
Ported PCL 1.11 deprecated changes to PCL 1.10 ( #550 )
2020-05-27 17:45:16 -04:00
matlabbe
8842d0c0e3
fixed isfinite -> std::isfinite
2020-05-27 16:39:50 -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
798466bb05
Increased ros package version to 0.20.0. Parameters: fixed default feature detector when xfeatures2d is not found
2020-05-26 22:44:44 -04:00
matlabbe
0902ccc340
Updated error message when SBA is done on multicam setup.
2020-05-26 11:04:23 -04:00
matlabbe
208f1e5b7c
OdomF2M: fixed complexity check on 2d scans ( https://github.com/introlab/rtabmap_ros/issues/412 )
2020-05-25 20:07:58 -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
Thomas Kircher
35385e299d
K4A mapping working now ( #554 )
...
* 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
2020-05-25 11:46:16 -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
Thomas Kircher
013bd0c72a
K4A device, fixed some stale edits ( #553 )
...
* 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
2020-05-20 19:36:15 -04:00
Thomas Kircher
89ece8cd4e
Preliminary K4A device support ( #552 )
...
* 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
2020-05-20 15:31:30 -04:00
matlabbe
360a153565
Parameters: Renamed SuperGlue group to PyMatcher group. Added OANet python script.
2020-05-20 09:45:39 -04:00
matlabbe
63d40b2240
Fixing trusty build
2020-05-19 18:06:20 -04:00
matlabbe
cb60443a33
Fixing OpenCV<3 build
2020-05-19 15:44:41 -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
00695731fe
SuperGlue: added traceback when there is an error with python.
2020-05-13 11:18:34 -04:00
matlabbe
09d2f7d232
Fixed android build
2020-05-12 22:04:03 -04:00
matlabbe
e906b40e50
Fixed build with opencv < 3.4.1
2020-05-12 10:26:08 -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
cc9fd439fe
SuperPoint: updated descriptor normalization process to match exactly the implementation in SuperGlue. generateWords3DMono: use variance at 25% instead of 50% of the sqrd variance vector (to do the same than with PnP), also fixed return camera transform to include local transform of the camera model. rtabmap-matcher: updated default parameters when no depth images are used, added reproj error in title bar.
2020-05-10 14:13:41 -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
c44837a4cb
Fixed build without SuperGlue
2020-05-09 21:41:38 -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
abc3ebee8c
fixed #538
2020-05-09 11:48:06 -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
