i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity
2,657 Commits 29 Branches 163 Tags
ea4cc7cb6c153dad537c47731badaed7090c939c
Commit Graph

270 Commits

Author SHA1 Message Date
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
d119487dd7 Coloring scan (camera projection on point cloud) (#693) 
* ExportClouds: Added camera projection options

* ExportClouds: fixed ceiling/floor filtering options not saved in config

* ExportClouds: fixed colorless scan points still exported when option is unchecked.

* Export tool: added --bin, --poses, --images, --las and --cam_projection options; export with intensity with --scan option. PDALWriter: added binary option (only used for PLY an PCD formats). Rtabmap: Do graph optimization if neighbor link refined and Mem/UseOdomGravity is used.
 2021-03-01 09:56:37 -05:00
matlabbe
967c57d165 Added CameraStereoZedOC (Zed Open Capture driver). 
* Added CameraStereoZedOC (Zed Open Capture driver). Calibration: added stereo baseline option, show warning if fx is very different after stereo calibration.

* Fixed build without Zed Open Capture. Fixed "any" prefix added to all tools when WITH_ZEDOC=ON. UI: fixed Zed Open Capture action not disabled when not built with it.
 2021-02-28 10:31:18 -05:00
matlabbe
481a140f84 util3d: Refactored laserScanFromPointCloud() functions to return LaserScan with correct format instead of cv::Mat. 2021-02-07 17:27:55 -05:00
matlabbe
4d75361fe0 CameraImages: support scan only dataset. 2021-01-24 13:21:30 -05:00
matlabbe
d700d09339 DataRecorder tool: interface changed to use config file (#661) 2020-12-13 12:42:58 -05:00
matlabbe
da8e76ffed rtabmap-matcher: added --calibration_to option (to use a different calibration file for the second image). 2020-12-05 13:21:58 -05:00
matlabbe
3131474102 Added Db/TargetVersion parameter (#652) 2020-12-03 15:45:40 -05:00
matlabbe
54e2688a1d Fixed build with pcl > 1.11.1 (#641) 2020-11-14 16:52:01 -05:00
matlabbe
d04b1a13be multiband: add multi-camera support. rtabmap-export: updated options (now supporting creating point cloud from scans). 2020-11-04 14:02:18 -05:00
matlabbe
e269067d4c Texturing: add distanceToCamPolicy option 2020-11-03 16:11:37 -05:00
matlabbe
99275fba1d Added Daisy descriptor. ORB: updated default parameters. Making ORBOctree using ORB parameters. Updated Vis/CorNNDR default from 0.6 to 0.8 (increase number of matches with binary descriptors, increase slightly feature matching time with float descriptors). Note that jfr2018 scripts have been updated to use old value 0.6. rtabmap-info: show descriptor dimension and type. 2020-11-01 11:28:59 -05:00
matlabbe
72e1649cdd DataRecorder: added imu filtering by default 2020-10-22 18:02:24 -04:00
matlabbe
32eb266c79 fixed CMP0020 cmake warning 2020-10-09 11:10:21 -04:00
matlabbe
2cb509c825 DbViewer: manual constraints can now be added (http://official-rtab-map-forum.67519.x6.nabble.com/Manually-adding-modifying-node-constraints-td6983.html) 2020-10-07 15:41:13 -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
933ac736f1 Increased version 0.20.4. Added parameter Kp/ByteToFloat (default true to use less memory with kdtree and binary descriptors). Memory/Sqlite3: Setting weight to -9 for invalid nodes (to make sure they are not reloaded from database, to fix a graph reduced issue). Added 12-SURF/FREAK detector approach. rtabmap-info: added number of nodes in each sessions. 2020-09-28 10:29:14 -04:00
matlabbe
eef0a23b1b Reprocess: added --skip option (to skip frames when reprocessing). Rtabmap: always save Loop/Map_id/ stat. UPlot: export NaN insted of NA for invalid values (compatible with octave). GraphViewer and ImageView: added support for PDF output format, also changed default directory to User's Pictures standard folder. 2020-09-21 19:32:48 -04:00
matlabbe
29368ebdb3 report: fixed database order in localization results 2020-09-15 14:06:23 -04:00
matlabbe
a689d8a23f report: fixed how localization stats are split against localization sessions only 2020-09-10 14:09:27 -04:00
matlabbe
1db17dd118 rtabmap-report: added loc_delay option. Db info: added unused space 2020-09-03 15:23:48 -04:00
matlabbe
23d8353540 Rtabmap::detectMoreLoopClosures, use optimized graph as guess if RGBD/ProximityOdomGuess is true. Reprocess: added options to generate scan from depth image and/or pre-process input scans. 2020-08-28 16:24:07 -04:00
matlabbe
96a628877c reprocess: when merging databases, return number of sessions merged when program exists. export: added --save_in_db option. 2020-08-28 12:29:16 -04:00
matlabbe
4e32e8846c fixed build error 2020-07-08 21:34:41 -04:00
matlabbe
6468245317 Reprocess: added loc stats in motion, added option to export odom and loc poses in g2o format 2020-07-08 21:25:14 -04:00
matlabbe
3505611fb5 reprocess: set Mem/UseOdomFeatures to false if Kp/DetectorStrategy or Vis/FeatureType is overwritten (#566) 2020-07-06 13:31:01 -04:00
matlabbe
e800662bac Fixed build with OpenCV >= 3.4.11 2020-07-02 16:29:23 -04:00
matlabbe
0809946c66 Windows: Fixed stereoRectifyFisheye.h 'cannot convert from cv::Mat to CvMat' compilation error with opencv >=3.4.4. Fixed k4a/k4atypes.h not found on guilib compilation. 2020-06-30 23:18:31 -04:00
matlabbe
13679cc52a Export tool: fixed generated texture output directory 2020-06-09 12:58:55 -04:00
matlabbe
4769fc235f Refactoring: set default local transform for camera drivers to opticalRotation. Added CameraModel::opticalRtotation() static function for convenience. Added CameraModel::load() from file directly for convenience. Added Camera::initFromFile() for convenience. Transform: Added opengl_T_rtabmap() and opengl_T_rtabmap() functions for convenience (convert back and forth between rtabmap world and opengl world coordinate frames) 2020-06-08 11:40:47 -04:00
matlabbe
6029b6283d Rtabmap: Refactored how fake odom is generated in localization mode when no odom is provided. Trigger new map in localization mode also clears last localization pose if RGBD/SavedLocalizationIgnored is true. 2020-06-08 10:14:21 -04:00
matlabbe
86ac63ab19 UPlot: changed float to qreal (double). Added UPlot::frameData() function. 2020-06-07 11:55:27 -04:00
matlabbe
7eae992d6f rtabmap-report: fixed map.at() error if the database as empty statistics 2020-05-28 21:21:31 -04:00
matlabbe
69a2aacc8e Parameters: added SIFT/RootSIFT parameter. 2020-05-21 17:09:20 -04:00
Thomas Kircher
013bd0c72a K4A device, fixed some stale edits (#553) 
* 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

* Edits to K4A camera implementation

* K4A minor initialization fix

* Typo

* Another initialization fix

* Update CameraRGBD tool to display K4A camera output
 2020-05-20 19:36:15 -04:00
matlabbe
360a153565 Parameters: Renamed SuperGlue group to PyMatcher group. Added OANet python script. 2020-05-20 09:45:39 -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
55509c6c27 Fixed build with OpencV 2.4 and Qt4 2020-05-13 15:15:52 -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
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
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
46886f2637 Report: added invert and ids options. Reprocess: show node id along map id when processing. 2020-04-30 17:00:09 -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
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
66fca15cc6 Added rtabmap-info console tool 2020-04-24 13:45:41 -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
7cfc51315d CMake: find octomap instead of OCTOMAP #529 2020-04-18 16:03:09 -04:00
matlabbe
1b4b1c2832 Report: add compilation when qt is not used 2020-04-09 11:00:42 -04:00