matlabbe
3147b4ab56
ios: added recovery feature
2022-01-02 17:08:44 -05:00
matlabbe
33130890fd
Localization: Improved resulting pose in case there are gravity constraints. iOS: clear odom trace when not visible, fixed opt mesh not correctly aligned with graph on loading when switching RGBD/OptimizeFromGraphEnd.
2021-12-18 15:37:49 -05:00
matlabbe
a9d4fc9291
Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping).
2021-06-15 20:45:45 -04:00
matlabbe
696216b35b
Fixed occlusion image origin offset (iOS and android). Android: disabled maximum odom image rate for faster feedback in First-Person. Min/Max range parameters also filter scans. Fixed background renderer not showing image (ARCore Java driver).
2021-06-13 22:07:47 -04:00
matlabbe
6342658ec5
iOS: fixed origin when we do New Scan while we were already mapping, improved FPV feedback in point cloud mode, showing camera overlay in visualization mode (pinch out to disable). Localization mode: Updated how marker detection transform are modified by gravity constraints.
2021-06-12 12:42:56 -04:00
matlabbe
3f633081cb
iOS: improved feedback in first-person mapping mode (red background), fixed not matching camera overlay with 3D model, updated how memory usage is computed.
2021-06-11 21:41:59 -04:00
matlabbe
ba38d9f321
Added depth/rgb registration option
2021-06-10 11:07:25 -04:00
matlabbe
d7b5fa5d17
fixed android build
2021-06-09 17:45:01 -04:00
matlabbe
289d4afd76
ios first release
2021-06-08 00:06:49 -04:00
matlabbe
e59aad03ed
Fixed android build with latest laserScanFromPointCloud changes
2021-02-19 14:25:34 +00:00
matlabbe
54e2688a1d
Fixed build with pcl > 1.11.1 ( #641 )
2020-11-14 16:52:01 -05:00
matlabbe
b7ada1992e
android: added occlusion detection using arcore depth api (for FPS view). Added depth from motion option in Mapping options.
2020-06-29 20:25:58 -04:00
matlabbe
4142ff003c
Added AR mapping mode (select ARCore ndk driver and set first person view)
2020-06-29 15:24:35 -04:00
matlabbe
09d2f7d232
Fixed android build
2020-05-12 22:04:03 -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
b3eee0d7bf
android: fixed yuv conversion bug on some devices, updated default driver based on which one is available and built with it.
2020-04-29 12:18:02 -04:00
matlabbe
06482d2378
ARCore: when tof camera is not available, use arcore point cloud as keypoints
2020-04-26 14:48:48 -04:00
matlabbe
6bb6178ae5
android: fixed Resume disabled when returning from Visualization
2020-04-24 08:23:17 -04:00
matlabbe
9b54aeee22
Android: set estimation type to default PnP
2020-04-23 15:13:58 -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
e887d462ce
Memory: Added parameter Mem/UseOdomGravity, adding kGravity links when creating a node if IMU is present or Mem/UseOdomGravity is set. Fixed OpenCV4 related build errors on stereo fisheye rectification code. Signature: changed links from map to multimap to support having multiple self references (prior, gravity constraints...). DBReader: publish IMU orientation if a gravity link is detected.
2019-05-31 15:36:35 -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
9b63297a6b
New parameter "RGBD/MaxOdomCacheSize" used in localization mode to reject similar locations (default disabled)
2019-04-05 19:37:40 -04:00
matlabbe
fc9c762516
Added Optimizer/GravitySigma parameter (with GTSAM support).
2019-03-31 15:51:50 -04:00
matlabbe
9c1c88d35e
Tango: added marker's max depth error setting
2019-03-18 10:37:02 -04:00
matlabbe
17521e8efb
Tango: added "Settings->Mapping->ArUco Marker Detection" option
2019-02-23 03:02:42 +00:00
matlabbe
15ca0da89e
Fixed Tango build
2019-02-12 16:48:37 -05:00
matlabbe
09a63bbc5b
Rtabmap::detectorMoreLoopClosures() added intraSession and interSession parameters
2018-11-05 18:40:08 -05:00
matlabbe
8e99291e13
0.18: Camera calibration and LaserScan Info refactoring ( #324 )
...
* Saving full camera calibration in database, added angle min/max/inc to LaserScan.
* Updated laserscan info save/load in db
* Database: added Tag table, added env_sensors field to Node
* fixed serialization/deserialization of stereo camera model
* fixed multi-calibration db saving
* fixed rebase errors
* Tango: Added saving environmental sensors option
* Memory: Save env sensors
* Tango: fixed env sensor ids
* DBViewer: show env sensors values
* DBViewer: added calibration details on tooltip
* increased package version to 0.18.0
* Fixed LaserScan copies when angleIncrement is valid
* fixed build error without OctoMap dependency
2018-10-23 14:35:14 -04:00
matlabbe
4c7b565391
Refactored Optimizer::getConnectedGraph() to estimate poses based on links, we can then remove Optimizer::optimizeMultiSession(). Rtabmap: if poses and guess are not the same before optimization, do Optimizer::getConnectedGraph() to get pose estimates based on links instead of odom (to make optimization more robust to memory management and multi-session).
2018-10-16 18:55:36 -04:00
matlabbe
2b00b2c1c5
Tango: 0.17 fixing broken localization on visualization
2018-04-05 11:00:16 -04:00
matlabbe
db0e833ce9
Tango: fixed build
2018-04-05 09:44:14 -04:00
matlabbe
592b7c66c5
0.17.0: saving optimized poses and last localization pose to database ( https://github.com/introlab/rtabmap_ros/issues/220 ). Parameters: fixed Icp default parameters when not built with libpointmatcher, added RGBD/SavedLocalizationIgnored (default false). DbViewer: added Export/Import 2D map ( https://github.com/introlab/rtabmap_ros/issues/213 ).
2018-04-04 19:14:13 -04:00
matlabbe
8d93c275ab
Tango: fixed optimized mesh where nans were removed before saving (causing trouble with corresponding polygons)
2018-03-21 16:00:12 -04:00
matlabbe
dd59d3c713
Tango: fixed MaxOptimizeError value that now is a factor. Docker: updated tango download links
2018-03-18 18:47:13 -04:00
matlabbe
85273b9ed7
fixed max tango pose radius
2017-10-29 10:48:04 -04:00
matlabbe
b3149a2b55
Tango: fixed bug where black point clound is shown when visualizing a mesh with texture
2017-10-19 20:58:51 +02:00
matlabbe
bfbabc62c4
Tango: Localization mode can be used in visualization
2017-10-12 15:54:16 -04:00
matlabbe
007d23308a
Tango: updated how memory used and database size are computed
2017-10-09 18:04:54 -04:00
matlabbe
66e79e23cb
Tango: kill camera instead of join to avoid lag when clicking pause
2017-10-09 13:05:41 -04:00
matlabbe
49f9a1e8d7
Tango: fixed database saved in memory option when disabled (now disabled by default)
2017-10-08 21:55:27 -04:00
matlabbe
9a09db9212
Tango: added "Pose (x,y,z)" in debug view
2017-10-06 13:42:12 -04:00
matlabbe
c4ae4919a5
Tango: some default parameters tuning
2017-10-02 17:44:59 -04:00
matlabbe
83e7f06500
Tango: offset odom origin when reset
2017-10-02 13:19:02 -04:00
matlabbe
81c8e1b192
Tango: add Maximum Motion Speed option (default low) to avoid blurry images
2017-09-28 17:15:53 -04:00
matlabbe
9691a4f361
Added GPS class for convenience, database viewer can view GPS values and export to KML format
2017-09-26 14:13:06 -04:00
matlabbe
bfc393a090
0.14: added gps field to Node table in database ( #226 ). Tango: saving gps if enabled, added Rename/Remove/Share on long click in Open dialog ( fixed #233 )
2017-09-21 20:59:45 -04:00
matlabbe
ad38632fc1
Fixed Tango build errors
2017-09-20 15:03:10 +00:00
matlabbe
5855198b5f
Tango: swipe down to show hud, added notification sound after saving or exporting, added polygon cluster filtering export option, action and status bars are transparent
2017-07-24 20:24:16 -04:00
matlabbe
4b7d558026
Tango: moved export to file button under share to sketchfab (fixing overlap of button on opengl status text), fixed export empty poses after resuming without relocalizing (append mode)
2017-07-03 14:42:48 -04:00
