matlabbe
e92dfd50e1
GUI: set default working dir if it is empty in the loaded config
2022-04-10 15:59:38 -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
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
1e82fd3110
ImageView: added option to set maximum range for depth colormap
2022-03-03 18:01:04 -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
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
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
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
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
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
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
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
Ben
2dc7b59b05
allow negative min disparity in StereoBM dialog ( #817 )
2022-01-24 17:02:47 -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
a56373f66d
GUI/ExportClouds: fixed color of scans having RGB instead of intensity.
2022-01-19 16:59:43 -05:00
matlabbe
7a5c50cb0e
Fixed compilation warnings
2022-01-16 15:27:52 -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
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
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
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
8662eb0dd7
Statistics: added OdomCache data for debugging
2021-12-18 18:53:59 -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
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
67710ef94c
Export: optimized camera projection RAM usage. Added --texture_angle and --cam_projection_decimation options.
2021-11-21 17:10:57 -05:00
matlabbe
090ae0c444
DbViewer: added option to show disparity instead of right image in main views for stereo data
2021-11-20 16:36:54 -05:00
matlabbe
dbecaac809
Moved bin dir inside build directory ( #784 )
...
* Moved bin directory inside build directory (to make easier different builds with same source directory)
* Switched include order to avoid problems with remaining Version.h still in source directory taen before the one in binary dir. Fixed android build (updated res tool search path).
* workflow-cmake: fixed path to bin directory
2021-11-14 19:29:37 -05:00
matlabbe
6c07a670ee
Added OdometryOpen3D
2021-11-13 19:45:57 -05:00
matlabbe
b002e85e0f
Update ProgressDialog.h
...
Typo param name should be in seconds, not milliseconds.
2021-11-09 17:36:34 -05:00
matlabbe
ec2aa5c952
OpenNI2: depth shift can be negative. MainWindow: postProcessing() refactoring (split with and without dialog).
2021-11-09 10:16:12 -05:00
matlabbe
ddd5eb5a41
CameraRealSense2: Odom extrinsics against another sensor can be calibrated with having to calibrate stereo first. DBViewer: fixed local grid wrongly using global grid parameters.
2021-11-05 18:05:50 -04:00
matlabbe
20bc281db7
DbViewer: don't show landmark links for ignored ndoes (w=-9), auto-zoom grid map if there are a lot of unknowns. Updated Docker nvidia files to include default Documents/RTAB-Map directory.
2021-11-04 13:00:08 -04:00
matlabbe
7c5acd8970
Parameters: Changed Grid/FromDepth to Grid/Sensor to add a new choice to use both scan and depth for local grids. Increased version to 0.20.15.
2021-10-29 20:05:12 -04:00
matlabbe
8682026396
Rtabmap: when optimizing graph, removed guess for rootid to avoid global rotation drift over time. CameraStereoImages: set BayerMode also to right image. GraphView: fixed 0 width for line inside NodeItem. Reprocess: added -loc_null and -gt options.
2021-10-23 11:17:42 -04:00
matlabbe
d16e24a1a3
Fixed compiler warning
2021-10-07 10:19:32 -04:00
matlabbe
ab5fd5018b
DbViewer: added update all landmark covariances menu action, also enabled edit constraint on landmark links. Covariance can be set to 9999.
2021-10-06 11:34:40 -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
8c56b5b1ce
CMake: added WITH_OPENMP option (to be able to disable it). CameraOpenNI2: Added depth decimation parameter. CLAMS: can apply distortion model to smaller images.
2021-09-24 17:31:16 -04:00
matlabbe
5f65618d40
Added OdomLOAM/Resolution parameter
2021-09-22 10:48:59 -04:00
matlabbe
14b56813d3
Updated for AliceVision >=2.4.0 compatibility. Export: added --multiband_contrib option.
2021-09-19 20:20:45 -04:00
matlabbe
44b057b0d7
DbViewer: fixed icp from depth option not used when refining or adding loop closures automaticaly
2021-09-13 15:59:19 -04:00
matlabbe
a901f20d06
0.20.14: added globalBundleAdjustment CLI, added Rtabmap/Memory::cleanupLocalGrids function, init with optimizedPoses from db even in mapping mode, reprocess: added -db option to save optimized 2d grid in database.
2021-09-11 11:35:43 -04:00
matlabbe
3ba02d2ef6
Added OdometryFLOAM (Odom/Strategy=11)
2021-09-09 17:38:54 -04:00
matlabbe
e017a0fcf4
DbViewer: fixed initial rootid with older databases, fixed RGBD/OptimizeFromGraphEnd not correctly used.
2021-09-08 18:13:20 -04:00
matlabbe
b932da6dcf
DbViewer: Adjusted GraphView's root id based on latest valid node on initialization
2021-08-28 20:23:44 -04:00
matlabbe
ed68fe777b
Added more options for multiband texturing
2021-08-16 13:14:02 -04:00
