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1692 Commits

Author SHA1 Message Date
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
00695731fe SuperGlue: added traceback when there is an error with python. 2020-05-13 11:18:34 -04:00
matlabbe
e906b40e50 Fixed build with opencv < 3.4.1 2020-05-12 10:26:08 -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
matlabbe
7d377d26df Added Rtabmap::getSignatureCopy() 2020-05-05 13:26:40 -04:00
matlabbe
7041d5fd34 Fixed #541 2020-05-03 22:59:35 -04:00
matlabbe
c19da22ca4 0.20: added GlobalDescriptor table in database 2020-05-03 21:46:25 -04:00
matlabbe
50c3bb7ce9 fixed #540 2020-05-03 14:05:14 -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
45223b306a Increased SPTorch/Threshold decimals for more fine tuning in DBViewer 2020-05-01 19:59:28 -04:00
matlabbe
3e9cff4053 fixed build with opencv 4.3 2020-05-01 09:51:54 -04:00
matlabbe
40804d9120 Statistics: added x,y,z map corrections. Report: added options --stats to show available statistics to plot in a database 2020-04-30 15:48:47 -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
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
14ec619b1e Added MYNT EYE S support. Fixed StereoCameraModel rectification not done with non-square images, also updated to support fisheye model. 2020-04-30 00:57:47 -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
66fca15cc6 Added rtabmap-info console tool 2020-04-24 13:45:41 -04:00
matlabbe
bc8d811f69 Dictionary: fixed L2SQR format for GPU BF 2020-04-23 22:56:42 -04:00
matlabbe
e8be3f21fa SuperPoint: fixed nms bug 2020-04-23 20:06:48 -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
94360e19e0 DBReader: changed maxFrames option to stopId and startIndex to startId. Reprocess: added options to start and stop at specific ids in the database. 2020-04-22 16:20:29 -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
7cfc51315d CMake: find octomap instead of OCTOMAP #529 2020-04-18 16:03:09 -04:00
matlabbe
6074e84653 Fixed compilation issues with libtorch 1.4.0 2020-04-17 08:32:44 -04:00
matlabbe
f575652456 0.19.7: added SuperPoint Torch feature support. RegVis: keep Feature2D detectors as class members instead of recreating them at each registration. 2020-04-16 17:59:45 -04:00
matlabbe
de354b901d RegInfo: added icpStructuralDistribution info 2020-04-14 17:06:53 -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
c0313a6d09 GUI/Source: color only option now also available for stereo cameras (meaning only left frame published). Db: fixed non-valid 3d words saved when no ones were in the signature (on loading, we don't set words3 if they are all null). 2020-04-08 20:00:41 -04:00
matlabbe
7e8e80db2c Fixed map_id not starting at 0 when empty 2020-04-08 17:02:44 -04:00
matlabbe
cdff33b1c2 Added Mem/LocalizationDataSaved parameter 2020-04-05 19:21:20 -04:00
matlabbe
e83838f744 CameraRealSense2: fixed ifstream imcomplete type error 2020-04-05 12:30:46 -04:00
matlabbe
034adb9f1f fixed #503 2020-04-02 15:07:32 -04:00
matlabbe
fd1fa0320a fixed build with latest libpointmatcher 2020-04-01 15:52:46 -04:00
matlabbe
b95195d8bb CameraRealSense2: added json preset file option (#513) 2020-04-01 12:25:28 -04:00
matlabbe
0eb978cb0b RegInfo: fixed copy without data. 2020-03-28 18:48:51 -04:00
matlabbe
451211cfb1 OdomInfo: added icpCorrespondences. Stats: using norm instead of x for distance/speed. Added odometry speed statistic in mph 2020-03-28 17:07:22 -04:00