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Author SHA1 Message Date
matlabbe dab7aa6e58 export: added min_range option 2022-05-03 23:12:09 -04:00
matlabbe b646c5e1db Marker priors (#859) 
* Added MarkerPriors parameter

* Fixed Marker/Priors format to use '|' instead ';'. Fixed landmark priors not used.

* Marker: added priors variance parameters

* g2o: refactored backward compatibility includes

* fixed build with old g2o
 2022-04-28 09:18:30 -04:00
matlabbe 190071678f Statistics: Added Memory/New_landmark. Rtabmap: don't remove node on small movements when a new landmark has been just detected. DbViewer: fixed missing statistics when ignored nodes are not saved in database. 2022-04-25 12:19:22 -04:00
matlabbe dc58266eda ORBSLAM2: fixed build 2022-04-10 19:42:15 -04:00
matlabbe e92dfd50e1 GUI: set default working dir if it is empty in the loaded config 2022-04-10 15:59:38 -04:00
matlabbe 1857111d7d Reprocess: added option to stream only one camera (in case of multi-camera database) 2022-04-06 14:07:23 -04:00
matlabbe 3e630e0250 UPlot: fixed number of digits after the decimal points to 6 when exporting data to text 2022-04-04 11:42:36 -04:00
matlabbe d35193721b report tool: option --loc can be used without a number. 2022-04-01 13:53:32 -04:00
matlabbe e46af2c3cd DbViewer: Added GroundTruth pose in node info labels 2022-03-31 12:00:52 -04:00
matlabbe 6cefc6d00a DBViewer: added camera frustums in Constraints View 2022-03-25 11:24:34 -04:00
matlabbe ff739a98a5 Removed opencv's optflow module from required dependency (https://github.com/introlab/rtabmap/issues/427#issuecomment-1058767133) 2022-03-07 00:12:56 -05:00
matlabbe 4321c3040a CameraDepthAI: fixed imu transform and depth mode with latest depthai-core version 2022-03-06 22:25:01 -05:00
matlabbe 1e82fd3110 ImageView: added option to set maximum range for depth colormap 2022-03-03 18:01:04 -05:00
matlabbe b9c7182a08 Update package.xml 2022-03-03 14:06:15 -05:00
matlabbe 656da152b3 multiband: fixed error when intermediate nodes without data are in memory 2022-03-01 18:42:43 -05:00
matlabbe f140e99881 DBViewer: fixed kml export disabled for poses when there are gps values. Fixed commas used instead of dots for float in kml export on french machine. 2022-02-27 15:20:02 -05:00
matlabbe 53e0099dd8 ios: tmp database is now public, so it can be copied from file explorer / Finder in case recovery fails. 2022-02-27 14:32:19 -05:00
matlabbe 51f779628f Recovery: original database is erased/replaced only after successful recovery (in case there is an seg fault during recovery). 2022-02-27 13:50:40 -05:00
matlabbe e7ee025127 Export: fixed texturing assert when there are intermediate nodes 2022-02-25 02:08:08 -05:00
matlabbe e6a5fe9c26 Don't do neighbor refining if fast movement has been detected 2022-02-20 18:09:39 -05:00
matlabbe e297320dd5 Removed backward compatibility with RGBD/OptimizeMaxError to be able to use ratio lower than 1. 2022-02-20 13:44:53 -05:00
matlabbe 4d895785a6 GraphViewer: added Ensure Frame Visible menu option. MainWindow: fixed loop signature failed to load image warning when camera is not used. 2022-02-19 16:16:29 -05:00
matlabbe c2c68c0caf Updated exported poses in TUM format to avoid confusion with header when importing in CloudCompare 2022-02-18 12:17:47 -05:00
matlabbe 9bd758a62c SuperPoint: return at minimum 2 features or 0 (fixed crash when only one feature). Python: added main python instance from Rtabmap object (to get python instancied once for ROS). MultiSessionWidget: Fixed layout warning. Memory::computeTransform() avoid re-instanciating RegistrationVis when Reg/Strategy=1 for guess transform (to fix PyMatcher re-initialized every time). CMake: added video module to opencv required components. 2022-02-15 01:28:38 -05:00
matlabbe 578c19cc38 Export CLI: for --poses_camera option with intermediate nodes in db, re-use previous camera models of last valid node with data. 2022-02-13 14:45:08 -05:00
matlabbe 4776de7931 rtabmap: updated proximity paths check order when likehood is not available (use closest node). MainWindow: don't pause when error happens in monitoring mode / ROS. DbViewer: show local transform of scan. 2022-02-12 16:46:10 -05:00
matlabbe 191e165a28 GUI: Added Multi-Session Localization view. CameraModel: set localTransform to optical rotation in default constructor (fixed matrix invertion errors with code ignoring setting local transform), save/read local transform in/from camera calibration yaml file (so that local transform is also exported when extracting rgb/depth images). Rtabmap: in localization mode, ignore landmarks farther than RGBD/LocalRadius if no global loop closures are already in odometry cache. 2022-02-12 13:35:23 -05:00
matlabbe f584f42ea4 rtabmap/dbreader: save odometry covariance in pose prior link when in localization mode and saving localization data. 2022-02-06 20:17:46 -05:00
matlabbe b44b212218 Bump 0.20.19. OdomF2M: scale x0.1 covariance when local bundle adjustment is done. Rtabmap: fixed GT localization error when RGBD/MaxOdomCacheSize is used. 2022-02-06 17:41:53 -05:00
matlabbe 9ad6b626e4 Updated how covariance is computed for 2d-3d estimation without query's depth image available (instead of computed from reprojection error) 2022-02-05 16:41:43 -05:00
matlabbe 32ad92e2d2 GraphView: added optional overlay to better see odometry cache constraints. rtabmap: keep global loop closure id in statistics when proximity is detected on same node. 2022-02-03 21:58:36 -05:00
matlabbe 6f8f6d4d8e android: reverted export zip cleanup (keep zip files in export subdir for easy usb transfer) 2022-02-02 17:05:49 -05:00
matlabbe c99203bbed CMake: added explicit opencv modules to avoid VTK6-VTK7 issues on Focal (vtk6 dependency coming with opencv_viz 4.2 module and vtk7 coming from PCL) 2022-02-01 13:40:02 -05:00
matlabbe 20d873c29e android: fixed backward compatibility target folder for android <30. Open: files are sorted by last modified date. 2022-01-30 15:47:08 -05:00
matlabbe 4d8c1d8b90 bump 0.20.18 2022-01-28 17:12:24 -05:00
matlabbe 315350dbfc CCCorelib: updated wrong output check. Updated RGBD/MaxOdomCacheSize approach to work properly with Rtabmap/CreateIntermediateNodes=true. 2022-01-28 14:48:32 -05:00
matlabbe 02140f92db fixed build 2022-01-27 22:55:59 -05:00
matlabbe 402afc07ed ExportDialog: added ground normals up option, added camera projection mask and decimation options. Export CLI: added --ground_normals_up and --cam_projection_mask options, changed --bin option by --ascii option (now binary by default). DBViewer: warn when scan from depth option is enabled but there is no depth. 2022-01-27 17:57:56 -05:00
matlabbe a8e5bbf415 export: added --texture_roi_ratios option 2022-01-26 20:12:04 -05:00
matlabbe 5b3a7d5674 Localization: fixed always rejected localization when proximity and global loop closures are both detected at the same time at two different locations (clearing proximity detections from odometry cache if global loop closures are good). 2022-01-26 15:39:09 -05:00
matlabbe d56692640e DBViewer: fixed grid cell size in 3D View. Memory/Grid, using Icp/PointToPlaneGroundNormalsUp parameter when normals are computed. Grid: fixed 2D noHit ray tracing. 2022-01-25 18:10:43 -05:00
matlabbe e2dc3ac67e OctoMap: fixed empty occupancy not correctly updated when ray tracing is done on more than one local map 2022-01-23 16:29:11 -05:00
matlabbe 83d1e27b81 Refactored graph::getPosesInRadius -> graph::findNearestPoses. Labels can be removed: added Remove label option in MainWindow. In localization mode, label set with id=0 is set to nearest node of current pose. 2022-01-20 18:56:38 -05:00
matlabbe 3c215b9b4d android: fixed driver preference for arcore 2022-01-20 10:57:39 -05:00
matlabbe bdaed2f362 Tango: fixed google tango driver not selected automatically on first use 2022-01-19 20:24:23 -05:00
matlabbe e048d8ae72 Fixed compilation error without octomap 2022-01-19 19:53:49 -05:00
matlabbe 5b868d665f Grid/Sensor=2: fixed viewpoint offset bug of the camera. 2022-01-19 19:27:32 -05:00
matlabbe a56373f66d GUI/ExportClouds: fixed color of scans having RGB instead of intensity. 2022-01-19 16:59:43 -05:00
matlabbe 5ec73bee8d ios: improved significantly rendering performance 2022-01-19 02:11:38 -05:00
matlabbe b1dd44526d ios: fixed background camera not shown in landscape mode (iPhone) 2022-01-17 22:06:35 -05:00
matlabbe de62bbb9b7 Grid: don't filter max range before doing ray tracing (to ray trace empty space). 2022-01-17 14:22:11 -05:00
matlabbe 7a5c50cb0e Fixed compilation warnings 2022-01-16 15:27:52 -05:00
matlabbe 9622fe8393 Parameters: set default Icp/PointToPlaneRadius to 0 to avoid 'Both radius and K defined' error when using 3d lidar. 2022-01-16 12:56:18 -05:00
matlabbe 5f55f63443 report: ignoring landmarks after optimization to avoid errors when exporting poses 2022-01-15 22:02:45 -05:00
matlabbe aa0e6ef692 GUI:Export Poses: fixed poses!=stamps issue when there are landmarks (landmarks now only exported with g2o format) 2022-01-15 21:49:40 -05:00
matlabbe 03a106ea36 Fixed build without g2o 2022-01-15 13:00:12 -05:00
matlabbe 29a2b64a0c RGBD/NeighborLinkRefining: do one proximity detection by time if intermediate nodes are added. Optimized radiusFiltering(). Updated default parameters of proportionalRadiusFiltering(). 2022-01-14 18:47:57 -05:00
matlabbe 51f6b32f47 Fixed windows build (https://ci.appveyor.com/project/matlabbe/rtabmap/builds/42207812) 2022-01-14 14:33:32 -05:00
matlabbe 9e0173f4cb Export: added random sample filter, added proportional radius filter, refactored when normals are computed (now after the clouds are assembled and voxelized), moved ceiling and floor filtering inside assembling loop. 2022-01-14 13:36:01 -05:00
matlabbe 12c2dd707c Localization with Reg/Force3DoF=true, fixed how graph optimization errors are computed (use only x,y,yaw). 2022-01-12 16:59:03 -05:00
matlabbe fcec98105d Added RGBD/ProximityMergedScanCovFactor parameter. Localization: fixed output height when Reg/Force3DoF=true but input poses are 6DoF. Transform: added is3DoF() and is4DoF() functions. GTSAM: when Reg/Force3DoF=true, copy input roll,pitch,z values for output poses. RegIcp: fixed working memory dir '~' conversion. RGBD/ProximityGlobalScanMap: fixed map::at error when some nodes don't have scans. 2022-01-12 16:14:42 -05:00
matlabbe a4ec95963e Fixed a debug information 2022-01-11 15:59:53 -05:00
matlabbe 49353b134c LaserScan: fixed destination format when source is empty with operator+ 2022-01-11 15:32:30 -05:00
matlabbe ab50ba0b6c Fixed android30 2022-01-05 21:39:27 -05:00
matlabbe 528b640a18 workflows: added android30 docker image 2022-01-04 20:54:53 -05:00
matlabbe 4d8a7b4659 CameraTango: fixed opencv4 errors 2022-01-04 20:49:03 +00:00
matlabbe ba6575fcb9 Added android30 build 2022-01-04 14:55:32 -05:00
matlabbe 1173f06bc8 android: fixed opencv4 deprecated errors 2022-01-04 19:46:20 +00:00
matlabbe a08fce2068 ios: added requestReview() 2022-01-03 20:57:41 -05:00
matlabbe d8324a11d5 android: fixed sharing file exiting bug, fixed camera not correctly set back to device default on reset settings. 2022-01-03 17:51:23 -05:00
matlabbe a6c9b3babe 💄 changed some cmake warnings in info 2022-01-03 16:33:21 -05:00
matlabbe 145430cafd Fixed noetic build (g2o error) 2022-01-03 16:05:11 -05:00
matlabbe 5194f40794 Fixed g2o build error with melodic/noetic versions 2022-01-03 15:37:06 -05:00
matlabbe 129bbf8f98 ios: added placeholder R in Library view for db not having preview (like recovered database) 2022-01-03 13:44:29 -05:00
matlabbe a9d4a16ba4 bump ios version 0.20.17 2022-01-02 23:40:46 -05:00
matlabbe b2f13c2772 android: fixed g2o seg fault (CACHE_SE3_OFFSET not registered) 2022-01-02 23:30:55 -05:00
matlabbe f3ace6c86a Added recovery feature to android 2022-01-02 18:09:57 -05:00
matlabbe 3147b4ab56 ios: added recovery feature 2022-01-02 17:08:44 -05:00
matlabbe fcde52c6bf ios: set First-P. View by default 2021-12-30 15:37:46 -05:00
matlabbe 5b31a4725d Update README.md 2021-12-29 19:05:35 -05:00
matlabbe e4955ee386 GUI: fixed mynteye raw images support error 2021-12-29 16:12:02 -05:00
matlabbe e5b4973ddc GUI: Added Orbbec Astra icon 2021-12-29 15:53:40 -05:00
matlabbe f3095a2e0a Calibration dialog: fixed right panel width size. Win32: packaging missing cudnn dlls (when torch is used) 2021-12-29 15:13:13 -05:00
matlabbe 044145926f ios: incremented build number 2021-12-28 18:35:55 -05:00
matlabbe a3823594a4 Converted an assert to an error. 2021-12-26 14:53:22 -05:00
matlabbe 3071da42f3 Optimizer: don't fix roll/pitch on root node if gravity constraints are fed 2021-12-25 16:57:03 -05:00
matlabbe 93ee8f9b30 Working dir path: convert ~ to Home for convenience. Localization: don't show "cannot optimize" warning when RGBD/MaxOdomCacheSize=0 2021-12-24 18:24:44 -05:00
matlabbe 7ca881453e RGBD/StartAtOrigin: set first node of the graph, not Identity 2021-12-20 17:01:08 -05:00
matlabbe 8662eb0dd7 Statistics: added OdomCache data for debugging 2021-12-18 18:53:59 -05:00
matlabbe 33130890fd Localization: Improved resulting pose in case there are gravity constraints. iOS: clear odom trace when not visible, fixed opt mesh not correctly aligned with graph on loading when switching RGBD/OptimizeFromGraphEnd. 2021-12-18 15:37:49 -05:00
matlabbe bca8b30832 Localization 2d Slam: automatically rotate landmark links to have z-axis up for correct 3DoF optimization. When RGBD/MaxOdomCacheSize is used, wait for at least 2 temporal localizations before adjusting the pose (to avoid big jumps when only one constraint is used). 2021-12-17 11:00:37 -05:00
matlabbe 6eb81cbb72 Added RGBD/MaxOdomCacheSize option to iOS App. 2021-12-12 20:40:28 -05:00
matlabbe 0e62050824 rtabmap: fixed graph re-optimized with only virtual links in localization mode (which can make gtsam crash because of under constrained covariance) 2021-12-12 13:07:02 -05:00
matlabbe cf5e90238b Statistics: added LoopOdom_correction stats for landmark detections. 2021-12-10 21:58:11 -05:00
matlabbe 8cf12c6135 Improved localization mode accuracy (decreasing jumps on consecutive loop closures or landmark detections). Updated usage of parameter RGBD/MaxOdomCacheSize (default 0->10) 2021-12-10 17:48:36 -05:00
matlabbe 4ab0090ecd Support feature-only rectification when using external extracted features. 2021-12-06 09:26:10 -05:00
matlabbe 580e35afb1 Fixed missing 3D keypoints when RGBD/LoopClosureReextractFeatures=true and Reg/Strategy=1 (https://github.com/introlab/rtabmap_ros/issues/668). DBViewer: fixed wrong poses optimization with GTSAM when showing scans of loop closures by proximity by space (multiscan) while there are GPS priors. 2021-12-05 17:38:53 -05:00
matlabbe 12906f4490 DBViewer: export poses: added explicit otion for ground truth if available 2021-12-03 13:43:53 -05:00
matlabbe baae713471 Fixed unknown lines for octomap 2D grid projection. (https://github.com/introlab/rtabmap_ros/issues/684) 2021-11-30 20:34:51 -05:00
matlabbe 67710ef94c Export: optimized camera projection RAM usage. Added --texture_angle and --cam_projection_decimation options. 2021-11-21 17:10:57 -05:00