i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-09 11:37:02 +08:00
Code Issues Packages Projects Releases Wiki Activity
2,669 Commits 30 Branches 168 Tags
f6e17be2b4196d588305fe20e080406a4841983a
Commit Graph
506 Commits
Author SHA1 Message Date
matlabbe f6e17be2b4 Added ViewPlane XY, XZ and YZ options to GraphViewer 
Parameter RGBD/SavedLocalizationIgnored now called RGBD/StartAtOrigin (updated description, used only in localization mode)
IcpReg: if Force4DoF, set lower covariance values for roll and pitch
DbViewer: updated detectMoreLoopClosures with new minRadius option and update optimized poses between each new accepted loop closures.
MainWindow: suppressed warning if depth image is not found in current node data (when rgb is).
3D Map view: changed default map point size to 1 (was 2)
 2021-03-12 17:47:36 -05:00
matlabbe db43479e44 Added ORB_SLAM3 support. IMU Filter: added base frame conversion option. (#698) 
Referred issues:
#655
https://github.com/introlab/rtabmap_ros/issues/492

Note: IMU not supported yet with ORB_SLAM3.

Commits:
* Added orbslam3 support. UI-Source->IMU filtering: Added base frame conversion option of IMU data to uniformize yaw initialization. Madgwick: fixed yaw initialization accordingly to Z acc.

* fixed regression build error with ORB_SLAM2

* Renamed OdometryORBSLAM2 to OdometryORBSLAM (can be 2 or 3 now)
 2021-03-09 16:00:41 -05:00
matlabbe 351c659beb Integrated DepthAI (gen2) (#696) 
* Added OAK-D camera support (DepthAI)

* Fixed build without DepthAI dependency

* Added minimum version 2 for depthai

* fixed trusty build
 2021-03-07 12:27:21 -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 cad184e82b Added Icp/PMForce4DoF parameter (works only with libpointmatcher > April 2020). Fixed some deprecated warnings. 2021-02-24 09:43:22 -05:00
matlabbe 8696a38343 Added parameter GridGlobal/AltitudeDelta 2021-02-21 13:00:16 -05:00
matlabbe c1a22609f3 Extract images: added timestamp.jpg/.png filname options (to match RGBD-SLAM pose format). Fixed wrong calibration file when first node is an intermdediate node. Export poses: ignore intermediate nodes when output frame is camera or scan. 2021-02-02 09:36:12 -05:00
matlabbe 47e40ef34d MainWindow: add fake frustum when only lidar is received 2021-01-22 12:51:47 -05:00
matlabbe 1a967127d9 Bump 0.20.8 version. Parameters: updated default of Vis/CorGuessWinSize=40 (was 20), GFTT/MinDistance=7 (was 3), Optimizer/GravitySigma=0.3 if built with g2o or gtsam. Those parameters help for smooth tracking on latest sensors with higher resolution and use IMU by default if available. Updated docker jfr2018 to use original parameters. CameraStereoZed: wait for imu to be available before sending frames (Zed-m and Zed2). 2021-01-08 13:04:24 -05:00
matlabbe 792c967d46 MainWindow: added driver options to differentiate between cameras having IMU or not (D400 vs D435i, ZED vs Zedm and Zed2). Enabled imu filtering by default for Freenect driver (Kinect XBOX360). 2021-01-08 01:10:23 -05:00
matlabbe a67dbc26f2 L515 refactoring (realsense v2.41.0, firmware 1.5.3): added IR-only mode support, fixed support with latest firmware, T265+L515 working, related to #574 #614 #629. MainWindow: Selecting RealSense2, ZED sdk, K4A, Mynteye drivers automatically enable gravity optimization (with IMU filtering). 2021-01-08 00:01:08 -05:00
matlabbe 049238dd59 Gui: added L515 icon 2020-12-11 09:56:17 -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 e7a2f206a0 Gui: fixed warning scan not found when uncompressing data. Don't disable Mem/UseOdomFeatures checkbox anymore in monitoring mode (ROS). 2020-11-05 15:50:05 -05:00
matlabbe 92b1dabf1c MainWindow: avoid uncompressing images/scans if they are not shown 2020-11-03 16:12:43 -05:00
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 bedc771fa4 Rtabmap: added getNodesInRadius() public functions 2020-09-28 12:03:42 -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
matlabbe 86ac63ab19 UPlot: changed float to qreal (double). Added UPlot::frameData() function. 2020-06-07 11:55:27 -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 6acfc62196 CloudViewer: adjust frustum fov based on camera model (https://github.com/introlab/rtabmap_ros/issues/419) 2020-05-24 11:13:13 -04:00
matlabbe eb9999d7b1 Rtabmap::addLink() supporting localization mode. MainWindow: fixed flickering camera frustum. 2020-05-21 21:26:29 -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 ace93b0356 GUI: check mynteye when selected 2020-04-30 01:00:17 -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 00d8375a2e RGBD/SavedLocalizationIgnored: if true, it is now starting at the origin (0,0,0) instead of null (not linked to graph). 2020-04-23 11:57:01 -04:00
matlabbe de354b901d RegInfo: added icpStructuralDistribution info 2020-04-14 17:06:53 -04:00
matlabbe d6269bb5d6 GUI: changed TF link colors from yellow to orange (as yellow already used for gravity) 2020-04-10 13:40:59 -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 dcc15f7555 MainWindow: added TG_error_lin and TG_error_ang stats for odometry (error of actual odometry transform compared to ground truth) 2020-03-31 11:52:27 -04:00
matlabbe 0eb978cb0b RegInfo: fixed copy without data. 2020-03-28 18:48:51 -04:00
matlabbe 451211cfb1 OdomInfo: added icpCorrespondences. Stats: using norm instead of x for distance/speed. Added odometry speed statistic in mph 2020-03-28 17:07:22 -04:00
matlabbe bfc64c451a MainWindow: added /map and /odom coordinate frames 2020-03-10 10:30:42 -04:00
matlabbe 882f2010ce MainWindow/rtabmapviz: Ignore Odometry stats included in rtabmap's Statistics object (to avoid plot reset when also receiving those from odom info) 2020-02-21 16:16:36 -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 57a27a5d17 MainWindow: added virtual functions for convenience 2019-12-10 18:48:54 -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 981ac69c2c Zed-mini: added imu thread to publish async imu events at 200 Hz (to support VINS odometry). 2019-10-13 17:40:09 -04:00
matlabbe 1e298dcfa2 CameraRealSense2: updated how imu are published in inter mode and fixed some local transforms. GUI-VINS: features are shown in Odometry view. 2019-10-13 14:48:11 -04:00
matlabbe 350d3cd85f CameraRealSense2: fixed wrong IR image index. DBReader: fixed imu not published. OdometryF2M: use IMU roll/pitch values when IMU is used (reducing variance on those angles before BA). 2019-09-13 21:45:13 -04:00
matlabbe 78d0d60b9f Added RealSense SR300 camera support (#421) 2019-07-05 11:19:45 -04:00
matlabbe abbf7e4476 Updated UPlot data copy to include data of all curves (common x-axis), added also mean and max along stddev in legend item option 2019-07-03 12:01:34 -04:00
matlabbe d205683eb5 Added parameters Vis/MeanInliersDistance and Vis/MinInliersDistribution 2019-06-16 18:54:39 -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 f8a8e55e7e UI: Update preferences with the new imu filter parameters. Camera: added imu filtering option. Updated support for zedm, D435i and T265. 2019-05-13 18:42:46 -04:00
matlabbe d4b4379829 Added T265 support (stereo-only yet) 2019-05-09 19:20:26 -04:00
matlabbe 195f6147ad DBViewer: added feature/line color menu option. CameraImages/DBReader: added maxFrames parameter 2019-04-26 19:20:35 -04:00