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115 Commits

Author SHA1 Message Date
matlabbe
3131474102 Added Db/TargetVersion parameter (#652) 2020-12-03 15:45:40 -05:00
matlabbe
33e9abdfad Mac: fixed crash when discarding a signature (not moving enough) with self refenced links. Fixed link error with realsense2 library on Mac. 2020-07-02 12:54:43 -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
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
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
7cfc51315d CMake: find octomap instead of OCTOMAP #529 2020-04-18 16:03:09 -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
2afa76c07c AliceVision integration, see util3d::multiBandTexturing() 2019-10-28 21:16:02 -04:00
matlabbe
536f001479 Added OptimizerCeres class (Optimizer/Strategy=3) 2019-08-17 03:55:04 -04:00
matlabbe
4b118ae660 Added FastCV support (see FAST/CV parameter). VWDictionary: loading fixed dictionary only on updates (to avoid loading it multiple times when memory is reset). 2019-08-14 12:09:56 -04:00
matlabbe
a90356f0c9 fixed https://github.com/introlab/rtabmap_ros/issues/326 2019-07-26 14:03:32 -04:00
matlabbe
0973f48b2c CameraK4A: added finding lib on linux 2019-07-10 12:34:13 -04:00
matlabbe
3c7719f6d8 Added CameraK4A driver (only MKV playback supported yet). Fixed build with realsense2 support on Windows. Preferences: added imu filtering parameters to ini file. 2019-07-09 20:48:09 -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
a0f74eaee2 Added new 2d feature ORB OcTree (approach used in ORB_SLAM2). report tool: fixed assert caused by bidirectional links. detectModeLoopClosures tool: check if input path exists. 2019-04-18 19:50:58 -04:00
matlabbe
fc9c762516 Added Optimizer/GravitySigma parameter (with GTSAM support). 2019-03-31 15:51:50 -04:00
matlabbe
c0a7c3a344 0.19.1: Added OdometryVINS (VINS-Fusion integration, Odom/Strategy=9) 2019-03-18 20:45:34 -04:00
matlabbe
d6ca37a9e7 Integration of OpenCV's ArUco Marker Detection (see new parameter "RGBD/MarkerDetection") 2019-02-18 18:19:55 -05:00
matlabbe
ccaf15fc41 fixed build without g2o 2019-01-25 19:14:28 -05:00
matlabbe
0f8c70bcdf g2o/gps support: added edge_se3_xyzprior.h to rtabmap repo. Fixed build for kinetic g2o version. 2019-01-03 15:49:25 -05:00
e-con Systems India Pvt Ltd
53513b6632 Tara Camera added to Master branch (#331) 
* Tara Camera integration

* Update preferencesDialog.ui

* Update preferencesDialog.ui
 2018-11-01 02:57:07 +12:00
matlabbe
16309e6d18 Added StereoSGBM (fixed #77) (#318) 
* Added StereoSGBM class

* fixed StereoSGBM build for OpenCV2
 2018-10-04 16:10:16 -04:00
matlabbe
0059a4bc1b Camera refactoring (#315) 
* Camera Refactoring part 1 (Mac OS X)

* fixed camera*** -> Camera***

* Fixed build for cameras Zed/RealSense/RealSense2

* increased version to 0.17.7

* fixed build for cameras K4W2 and FlyCapture2
 2018-10-01 19:33:56 -04:00
matlabbe
43e144e7b6 CMake: using external sqlite3 is available, otherwise use internal copy. 2018-09-05 14:22:34 -04:00
matlabbe
15e09cd0a8 Devel: new feature msckf_vio 2018-07-14 20:40:44 -04:00
matlabbe
35bc2d06a6 Fixed building with RealSense2 on Windows 2018-07-10 13:09:52 -04:00
matlabbe
d447329bf1 Added LOAM (loam_velodyne) odometry support 2018-06-28 11:10:46 -04:00
matlabbe
2060e0b1da Added CameraRealsSense2 driver (tested only with D435) 2018-06-15 12:24:00 -04:00
matlabbe
52aed1041c using copied version of solvePnPRansac for OpencV 3.3.1 too (along OpenCV2) to have stable transformation estimation (e.g., outdoor stereo demo is getting lost very often with the version of 3.3.1) 2018-04-30 17:44:13 -04:00
matlabbe
99acc9a6e7 Windows: Reordered libraries with gtsam at the end (which is static on Windows) 2018-03-28 11:04:18 -04:00
matlabbe
4969ece356 0.16.3: Added OKVIS support (tested only on EuRoC dataset). Added IMU/IMUThread classes. Added OdomOKVIS/ConfigPath and Rtabmap/ImagesAlreadyRectified parameters. MainWindow, limited odom local feature map to maximum 50 meters from current pose (to avoid VTK glitching with near/far clipping plane). 2018-03-07 19:43:30 -05:00
matlabbe
d24097f73d 0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...) 2018-02-16 19:20:54 -05:00
matlabbe
7dabfdc207 Added CameraK4W2 (Kinect for Windows SDK v2 driver) 2017-11-06 00:19:12 -05:00
matlabbe
d4248385f0 Added rtabmap::databaseRecovery() function, added rtabmap-recovery tool, added "Database recovery" menu action in DbViewer 2017-10-11 19:36:00 -04:00
matlabbe
b2fb7d5d5b Supporting g2o from ORB_SLAM2 2017-09-17 13:28:25 -04:00
matlabbe
f7872d346b libpointmatcher integration 2017-08-22 16:20:49 -04:00
matlabbe
517c70d855 CMake: added ANDROID_PREBUILD option 2017-07-13 13:36:34 -04:00
matlabbe
c4ca6a0bac Integrated ORB_SLAM2 as an odometry approach Odom/Strategy=5. 2017-06-05 19:04:23 -04:00
matlabbe
4f26e34717 Integrated DVO odometry approach 2017-05-31 20:57:24 -04:00
matlabbe
f6e21bd6c8 Integration of viso2 odometry approach. 2017-05-30 14:03:46 -04:00
matlabbe
4ffbc0fb58 Integrated Fovis (Odom/Strategy=2) 2017-05-30 09:27:31 -04:00
matlabbe
f61569622a CloudViewer: no need to save texture on disk before rendering TextureMesh (opencv image to vtk texture directly) 2017-01-30 21:23:56 -05:00
matlabbe
f07bb17442 Find/Link explicitly OpenCL libraries if Freenect2 is detected (moved in main CMakeLists.txt to be added to exported in RTABMapConfig.cmake) 2016-10-31 14:28:17 -04:00
matlabbe
4017db1d15 fixed #132 2016-10-21 16:54:32 -04:00
matlabbe
3434b95d68 Integration of CLAMS depth calibration #114 2016-09-19 14:01:06 -04:00
matlabbe
ff4300d525 Added GainCompensator class. GUI/3D Rendering: added texturing option. 2016-09-07 12:15:44 -04:00
matlabbe
c8cb961108 Refactored FlannIndex: Moved class into its own include file. Added radiusSearch() and buildKDtreeSingleIndex() methods. If dimensions <= 3 and float, use L2_Simple distance type. 2016-08-31 12:43:53 -04:00
matlabbe
013eba1d58 0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes. 2016-08-31 12:43:53 -04:00
matlabbe
af02e02978 Added Occupancy class. Database SQL: added ground_cells, obstacle_cells and cell_size fields to Node table (updated Signature too). 2016-08-31 12:43:53 -04:00