matlabbe
caffb56246
DBViewer: fixed StereoSGBM panel not shown. Odometry: fixed Odom/GuessSmoothingDelay type
2020-05-31 13:26:54 -04:00
matlabbe
360a153565
Parameters: Renamed SuperGlue group to PyMatcher group. Added OANet python script.
2020-05-20 09:45:39 -04:00
matlabbe
55509c6c27
Fixed build with OpencV 2.4 and Qt4
2020-05-13 15:15:52 -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
d14efea4ac
Added Vis/CorCrossCheck parameter (to use BFMatcher with crosscheck option instead of knn with NNDR for features matching). DBViewer: after refine or add constraint, lines indicating feature correspondences are now shown with different color if they are inliers. Re-enabled saving/loading settings of the ImageViews (feature color, line color, transparency...).
2020-05-01 22:12:56 -04:00
matlabbe
5d16ae8cfe
DBViewer: fixed calibration not found on refining without re-extracting features, fixed visualized ids switched on refine in some cases, fixed clouds not shown in constraints view after refine without re-extracting features
2020-04-30 14:17:46 -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
35074f6d9f
DBViewer: fixed missing parameter groups in Core Parameters. MainWindow: disabled frames by default.
2020-04-22 18:30:42 -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
2ff582f06f
DbViewer: fixed refineConstraints to make sure from id is the smallest id. Fixed correspondence lines drawn when images don't have the same size.
2020-04-15 14:54:36 -04:00
matlabbe
607dc67135
IMU: removing yaw from local imu transform when creating gravity links
2020-04-10 19:24:45 -04:00
matlabbe
82a19a2ff1
DbViewer: Updated add constraint order (from=old, to=newer)
2020-04-08 18:52:38 -04:00
matlabbe
cdff33b1c2
Added Mem/LocalizationDataSaved parameter
2020-04-05 19:21:20 -04:00
matlabbe
cb80d85dd6
DbViewer: removed graph optimization from latest optimized poses (see http://official-rtab-map-forum.67519.x6.nabble.com/Database-Post-Processing-Save-refined-links-td6504.html )
2020-03-01 16:59:46 -05:00
matlabbe
5c197f176e
DBViewer: fixed Yes vs YesToAll after editing 2d occupancy grid
2020-02-13 17:43:47 -05:00
matlabbe
5fef44ec2b
DBViewer: Added option to crop empty space from local grid and scans after 2d occupancy grid is manually edited
2020-02-13 17:32:39 -05:00
matlabbe
ccc5a5be5a
OctoMap::createCloud() added cloud probability output option.
...
CameraRealSense2: added new warnings to debug easier timestamps problems.
GUI: added gravity visualization.
DbViewer: empty clouds in OctoMap mode have color depending on probability of occupancy.
Brought general changes from local xvision branch.
2020-01-22 10:34:21 -05:00
matlabbe
edee5acdbf
DBViewer: we can now add new links between disconnected maps using only lidar. Export: convert intensity to grayscale when exporting colored mesh.
2019-11-23 17:58:40 -05:00
matlabbe
6435c74bfe
DBViewer: Added "Edit Constraint" button
2019-10-18 12:22:51 -04:00
matlabbe
3fd5cdfb75
DbViewer/detect more loop closures: removed a messagebox when silent and icp-only is used
2019-09-26 12:29:11 -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
283274e056
DbViewer: Added Gravity info ( https://github.com/introlab/rtabmap_ros/issues/323 )
2019-07-29 10:45:16 -04:00
matlabbe
62d8a892c6
DbViewer: fixed graph not re-optimized after refining an added link. Rtabmap: RGBD/ProximityPathMaxNeighbors=1 means only nearest node on a path
2019-07-23 15:21:32 -04:00
matlabbe
5222506578
DbViewer: neighbor links can be rejected (a warning about splitting the graph is shown though)
2019-07-11 18:53:47 -04:00
matlabbe
63be7c85fc
DBViewer: when adding new constraints, if visual reg is not used, we use optimized graph as guess
2019-07-05 16:28:31 -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
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
e03a9b3003
DBViewer: fixed Optimizer/GravitySigma not used on optimization
2019-05-10 11:45:15 -04:00
matlabbe
195f6147ad
DBViewer: added feature/line color menu option. CameraImages/DBReader: added maxFrames parameter
2019-04-26 19:20:35 -04:00
matlabbe
38a83c0cd9
DbViewer: disabling all buttons in Constraints View when visualizing a landmark link
2019-04-26 14:14:35 -04:00
matlabbe
a5350c4891
Optimizer: fixed bad g2o optimizations on 2d slam when there are 3D landmarks ( #384 ). DBViewer: landmarks can be now visualized.
2019-04-26 14:03:25 -04:00
matlabbe
8a6c0dad00
Fixed build with Qt4
2019-04-17 19:36:15 -04:00
matlabbe
bc2f89e66f
DbViewer: added a progress dialog when loading a database
2019-04-17 16:46:03 -04:00
matlabbe
aaefdae794
DBViewer: improved loading time on large dbs
2019-04-17 14:57:56 -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
fc9c762516
Added Optimizer/GravitySigma parameter (with GTSAM support).
2019-03-31 15:51:50 -04:00
matlabbe
80ef0e1a75
DbViewer: improved opening time of large databases when info tab is not visible
2019-03-25 16:30:03 -04:00
matlabbe
73e15ee93d
DBViewer: Fixed message box text error when a constraint is rejected by too large angle
2019-03-25 16:09:09 -04:00
matlabbe
c44349511d
Fixed build with opencv < 3
2019-03-17 13:02:04 -04:00
matlabbe
0c8194373f
DbViewer: added "Edit optimized map" and "Regenerate Optimized Map" actions
2019-03-16 15:27:49 -04:00
matlabbe
d85c1c3bcf
DbViewer: EditDepth colormap now matches the one in main window
2019-03-05 10:48:05 -05:00
matlabbe
884d1d7684
DbViewer: added colormap menu option to EditDepthArea, update3dView() updates only last select id to avoid switching to second image after editing the depth of the first one.
2019-03-05 10:07:20 -05:00
matlabbe
c272f9538a
Rtabmap/StartNewMapOnGoodSignature: start mapping if landmark is also detected. Rtabmap::detectMoreLoopClosures(): Fixed crash when landmarks are in optimized poses.
2019-02-28 20:33:16 -05:00
matlabbe
ebf74e3c98
DbViewer: removed debugging warnings
2019-02-25 09:48:18 -05:00
matlabbe
e1290524af
DbViewer: fixed proximity scans not shown
2019-02-23 19:16:12 -05:00
matlabbe
dd5e09be37
DbViewer: fixed fatal error when adding new constraints on nodes not in the graph (now we can only add new constraints with nodes in the graph)
2019-02-15 17:43:18 -05:00
matlabbe
1752b55678
Fixed bug with proximity detection (with combined scans) giving wrong transform sometimes if RGBD/ProximityPathFilteringRadius was used (default true). Fixed util3d::computeNormalsComplexity() when scan has intensity.
2019-02-07 11:19:55 -05:00
matlabbe
73004c643c
DbViewer: In graph view, nodes in latest working memory state are highlighted in red
2018-12-13 13:24:57 -05:00
matlabbe
200ec8e5db
0.18.3: added landmarks (graph optimization, localization, navigation)
2018-12-07 18:29:41 -05:00
matlabbe
015c442f1c
DetectMoreLoopClosures: update optimized poses and clear occupancy grid saved in database
2018-11-09 20:36:58 -05:00
matlabbe