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Commit Graph

547 Commits

Author SHA1 Message Date
matlabbe
d8ebbc2645 CameraK4A: rectifying color image (this improves a lot visual odometry accuracy) 2020-12-13 15:27:17 -05:00
matlabbe
049238dd59 Gui: added L515 icon 2020-12-11 09:56:17 -05:00
matlabbe
3131474102 Added Db/TargetVersion parameter (#652) 2020-12-03 15:45:40 -05:00
matlabbe
0022b6b993 ExportCloudsDialog: added colormap option when showing scans 2020-11-28 18:02:54 -05:00
matlabbe
d733029565 Increased version to 0.20.7. OdometryF2M: added support for intensity field, removed ignored key frames when there is low scan complexity. RegistrationIcp: added Icp/PMMatcherIntensity, Icp/PointToPlaneGroundNormalsUp and Icp/PointToPlaneLowComplexityStrategy parameters. Rtabmap: when graph optimized from end, increased optimization error before warning that resulting map correction is not identity (this could happen with GTSAM as the root is not perfectly fixed). CloudViewer: added coordinate frame scaling option, added rainbow colormap option for scan intensity. DBViewer: fixed local proximity merged scans not shown modified after refining those links, show intensity, fixed constraints view not updated after rejecting a link. MainWindow: added intesity support with odometry scans. 2020-11-28 17:28:34 -05:00
matlabbe
e4cb59b74d Added suggestion from https://github.com/introlab/rtabmap/issues/614#issuecomment-731769818 2020-11-22 12:32:39 -05:00
matlabbe
98a499b603 Optimizer: fall back on g2o or gtsam first if one or the other is not available (instead of going TORO). ExportClouds: added ceiling and floor filtering options. 2020-11-22 01:23:08 -05:00
matlabbe
f5d7dc2814 PreferencesDialog: Added Marker/MaxRange and Marker/MinRange parameters to UI. 2020-11-21 17:23:41 -05:00
matlabbe
01eb57f293 CameraImages: added configForEachFrame option (added to GUI too). CameraThread: for decimation, if depth is smaller than RGB, RGB is decimated first and if the resulting RGB image is smaller than the original depth, we then decimate the depth. 2020-11-14 13:39:12 -05:00
matlabbe
7be22d1b67 Added check to make sure input odometry poses are invertible. Source/DB: added stereo to depth option. 2020-11-06 21:37:59 -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
0e5ec91280 DbViewer: added option to ignore landmarks. Show landmark id in Constraints View. 2020-10-12 15:29:20 -04:00
matlabbe
d5572d03ad DbViewer: added checkbox to enable Add for nodes not linked to graph 2020-10-09 12:15:33 -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
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
f93cdc31a6 Gui/source/K4A: added more description 2020-09-04 15:12:05 -04:00
matlabbe
d2784095a3 Added K4A status on --version. About: added Mynteye status 2020-09-04 10:39:15 -04:00
matlabbe
8fa216bd9d Fixed default odom gravity sigma value to -1. Preferences: set 720p by default for K4A driver 2020-07-01 14:04:19 -04:00
matlabbe
6e1f07e097 CameraK4A: fixed IMU local transform, fixed some compilation warnings. 2020-06-22 19:42:55 -04:00
Thomas Kircher
de5610bd08 Added preferences for Azure Kinect camera (#559) 
* 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

* K4A added model parameter so we can create maps

* Added combo boxes for K4A options

* Functionalized combo boxes for K4A options

* Finished adding K4A preferences
 2020-06-04 11:34:37 -04:00
matlabbe
d5cfd8013d CameraMyntEye: added setIrControl() 2020-05-31 12:17:14 -04:00
matlabbe
415a2778f1 Added Features2d::limitKeypoints() with grid options. Odometry: if imu is provided and no guess is provided, the change of orientation of imu is used for rotation guess (overwrite rotation from Odom/GuessFromMotion). OdometryInfo: added gravity errors when imu is used. Preferences: added a second GravitySigma parameter (overwritting Optimizer/GravitySigma for odometry is not negative) for F2M odometry panel. 2020-05-31 11:22:12 -04:00
matlabbe
45ddce938a CameraMyntEye/GUI: added manual/auto exposure option (default auto). Rtabmap: refactored warning when RGBD/OptimizeFromGraphEnd changes state. 2020-05-28 19:50:02 -04:00
matlabbe
6e0081e248 MainWindow: made mynteye action checkable. 2020-05-28 14:04:10 -04:00
matlabbe
0902ccc340 Updated error message when SBA is done on multicam setup. 2020-05-26 11:04:23 -04:00
matlabbe
69a2aacc8e Parameters: added SIFT/RootSIFT parameter. 2020-05-21 17:09:20 -04:00
matlabbe
360a153565 Parameters: Renamed SuperGlue group to PyMatcher group. Added OANet python script. 2020-05-20 09:45:39 -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
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
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
0a4d0038cb Preferences dialog: fixed missing Vis/CorCrossCheck checkbox 2020-05-02 11:03:17 -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
31e5f7804e DbViewer: set horizontal layout by default 2020-04-23 15:27:31 -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
de4b17332d Preferences: fixed some not clickable external links 2020-04-17 16:06:56 -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
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
cdff33b1c2 Added Mem/LocalizationDataSaved parameter 2020-04-05 19:21:20 -04:00
matlabbe
b3f7d1881f GUI: added options to hide map/odom frames and yellow TF links. CloudViewer: added option to show/hide camera axis 2020-04-03 20:04:15 -04:00
matlabbe
b95195d8bb CameraRealSense2: added json preset file option (#513) 2020-04-01 12:25:28 -04:00
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
e2e2227895 ZED: Fixed compilation error with ZED SDK3 (#499). Added textureness confidence thr parameter (default 90, working only with ZED SDK3) 2020-02-03 17:59:07 -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
af9e113112 Gui: added missing OdomF2M/ScanRange parameter 2019-12-11 17:17:29 -05:00
matlabbe
179f17d267 0.19.6: Added auto brightness/contrast and texture format options to multiband approach. rtabmap-export moved from examples to tools directory. 2019-11-03 14:10:02 -05:00
matlabbe
2afa76c07c AliceVision integration, see util3d::multiBandTexturing() 2019-10-28 21:16:02 -04:00
matlabbe
6435c74bfe DBViewer: Added "Edit Constraint" button 2019-10-18 12:22:51 -04:00