i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity
2,830 Commits 29 Branches 163 Tags
ddd5eb5a41d08784db4211ffec6f5eb88e4afac8
Commit Graph

57 Commits

Author SHA1 Message Date
matlabbe
467ea42981 OdometryFLOAM: fixed published local scan map local transform 2021-09-30 10:05:56 -04:00
matlabbe
77d947d4fb Fixed FLOAM not working when local transform is not Identity. DBViewer: warn user when scan from dpeth is checked and there are no depth images in db. 2021-09-30 09:53:50 -04:00
matlabbe
533d78d570 Fixed OdometryOpenVINS build errors with latest OpenVINS code. 2021-09-28 17:12:08 -04:00
matlabbe
bccc5b13af FLOAM: added some debug logs 2021-09-24 11:32:25 -04:00
matlabbe
5f65618d40 Added OdomLOAM/Resolution parameter 2021-09-22 10:48:59 -04:00
matlabbe
cff0d15460 Fixed "wrong scan number" error when OdomLOAM/Sensor is 0 (VLP16) 2021-09-22 10:06:34 -04:00
matlabbe
3ba02d2ef6 Added OdometryFLOAM (Odom/Strategy=11) 2021-09-09 17:38:54 -04:00
matlabbe
c43118cde8 Fixed F2F-Optical flow not creating keyframes bug 2021-09-03 15:33:22 -04:00
matlabbe
f88ce1618b OdometryORBSLAM3: fixed re-initilisation of camera parameters when restarting camera with different config. 2021-08-26 15:34:48 -04:00
matlabbe
ae92ec40d7 Fixed build with LOAM dependency 2021-07-14 13:22:47 -04:00
matlabbe
4c1e72d82e Added OpenVINS minimal support (tested with EuRoC dataset) 2021-03-28 23:51:02 -04:00
matlabbe
06e85e140c Refactored RegistrationIcp: libpointmatcher yaml config usage / integrated CCCoreLib (#704) 
* Refactored RegistrationIcp so that libpointmatcher yaml can work with icp odometry (we can then avoid refiltering data with local map of F2M). All data filtering (including libpointmatcher DataFilters) are done at the beginning of the function.

* ICP: Restored ref and data scans order for libpointmatcher (seems more stable this way).

* Fixed compilation error without libpointmatcher

* CCCoreLib integration (Icp/Strategy=2). Icp/PMForce4DoF is now Icp/Force4DoF. Icp/PM is now Icp/Strategy. Icp/PMOutlierRatio is now Icp/OutlierRatio.

* Fixed build without CCCoreLib

* Cleanup RegistrationIcp from third party functions.

* Preferences: disable libpointmatcher and cccorlib options if not available
 2021-03-27 15:11:20 -04:00
matlabbe
db43479e44 Added ORB_SLAM3 support. IMU Filter: added base frame conversion option. (#698) 
Referred issues:
#655
https://github.com/introlab/rtabmap_ros/issues/492

Note: IMU not supported yet with ORB_SLAM3.

Commits:
* Added orbslam3 support. UI-Source->IMU filtering: Added base frame conversion option of IMU data to uniformize yaw initialization. Madgwick: fixed yaw initialization accordingly to Z acc.

* fixed regression build error with ORB_SLAM2

* Renamed OdometryORBSLAM2 to OdometryORBSLAM (can be 2 or 3 now)
 2021-03-09 16:00:41 -05:00
matlabbe
ea4cc7cb6c Refactored how IMU is used in odometry (if guess is not set, use imu orientation for guess). Changed canProcessIMU() to canProcessAsynIMU() to make it more clear for odometry approaches able to process IMU between image frames (VIO approaches). ZedOC: fixed device closed if imu is not detected. 2021-03-01 19:27:24 -05:00
matlabbe
cad184e82b Added Icp/PMForce4DoF parameter (works only with libpointmatcher > April 2020). Fixed some deprecated warnings. 2021-02-24 09:43:22 -05:00
matlabbe
b759b1b4d1 DBReader: set calibrated true when only scans in db. RegIcp: added intensity matching option when complexity is low. OdomF2M: accept first key frame on low complexity if a guess is provided. DbViewer: added gravity visualization in 3D view. 2021-02-01 11:31:45 -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
a80e062bef Fixed build error in Trusty 2020-10-05 18:17:18 -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
f263d560b4 OdomF2M: fixed complexity null for first scan is not having normals already 2020-08-21 14:32:08 -04:00
matlabbe
07d21e6b03 VINS update log: printf to UDEBUG 2020-07-30 12:34:58 -04:00
matlabbe
c7be9a23ee OdometryF2M: refactored imu buffer 2020-05-31 14:33:20 -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
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
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
607dc67135 IMU: removing yaw from local imu transform when creating gravity links 2020-04-10 19:24:45 -04:00
matlabbe
43df2a05da OdomF2M: fixed roll/pitch ignored in imu local transform 2020-04-09 19:22:57 -04:00
matlabbe
18ff5bb410 OdomF2M/Icp: fixed substracting points when normals are not used 2020-04-09 09:59:22 -04:00
matlabbe
06caa328a4 Lidar low complexity update. util3d::computeNormalsComplexity(): added optional transform (used in RegistrationIcp to get normal vectors in right coordinate frame). RegistrationIcp: Fixed PointToPoint ICP not used with PM when recomputing transform from low complexity. Added more info in warning messages when low complexity happens. OdometryF2M: avoid adding key frame when scan has low complexity. Same for the first frame to init the local scan map. 2020-03-28 16:25:27 -04:00
matlabbe
af9e113112 Gui: added missing OdomF2M/ScanRange parameter 2019-12-11 17:17:29 -05:00
PrescilliaA
4479a6f7e8 Odometry local map can be limited by range (#482) 
* Odometry local map is now dependent on robot range and not on time, recalculating normals after adding new scan to the map as well
 2019-12-11 13:43:38 -05:00
matlabbe
1e298dcfa2 CameraRealSense2: updated how imu are published in inter mode and fixed some local transforms. GUI-VINS: features are shown in Odometry view. 2019-10-13 14:48:11 -04:00
matlabbe
955660ba2a CameraRealSense2: added stereo ir support for D400 cameras, added publishInterIMU parameter (required for VINS fusion). 2019-09-18 20:55:48 -04:00
matlabbe
b2b1977f8b Deprecated getClosestTransform(), use getTransform() instead. OdometryF2M: removed patch about forcing roll/pitch from IMU (BA is already doing the job). 2019-09-15 17:31:58 -04:00
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
536f001479 Added OptimizerCeres class (Optimizer/Strategy=3) 2019-08-17 03:55:04 -04:00
matlabbe
2a1b737470 OdometryVINS: fixed output pose orientation (D435i and euroc compatible) 2019-08-15 16:46:56 -04:00
matlabbe
b5f5623af4 CameraRealSense2: updated how stamping is done, updated default D435 frame resolution/fps 2019-06-06 17:17:11 -04:00
matlabbe
4c8af6d6e9 fix build errors with opencv2, added Transform::getClosestTransform() function for convenience. 2019-05-31 16:51:37 -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
f8a8e55e7e UI: Update preferences with the new imu filter parameters. Camera: added imu filtering option. Updated support for zedm, D435i and T265. 2019-05-13 18:42:46 -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
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
6f4dce52fc OdometryOkvis: return pose only after processing measurements (images) 2019-03-20 22:10:15 -04:00
matlabbe
3cafdf911b Docker: added new "latest" version of jfr2018 image (including VINS and latest rtabmap version). Updated jfr2018 scripts to easily switch to host installed rtabmap instead of docker 2019-03-20 19:36:56 -04:00
matlabbe
24a4d91ee8 OdometryOKVIS: added warning if config file doesn't exist, also replace ~ by home directory for convenience 2019-03-20 13:10:14 -04:00
matlabbe
c0a7c3a344 0.19.1: Added OdometryVINS (VINS-Fusion integration, Odom/Strategy=9) 2019-03-18 20:45:34 -04:00
matlabbe
c8db45b2a4 reverted 977f8eb262 (was not the problem...) 2019-03-14 19:06:32 -04:00
matlabbe
977f8eb262 OdometryF2M: fixed orientation ignored when setting initial pose for scans 2019-03-14 14:15:53 -04:00
matlabbe
cf4db63226 New parameter: OdomF2M/ValidDepthRatio 2019-03-06 12:35:54 -05:00