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Author SHA1 Message Date
matlabbe f9abcf9e35 fixed opencv2 build 2020-11-14 14:41:37 -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 4b527f9c36 Update .appveyor.yml 2020-11-06 18:56:32 -05:00
matlabbe 4d965c2089 Update .appveyor.yml 2020-11-06 18:18:06 -05:00
matlabbe 47cbd633c3 Update .appveyor.yml 2020-11-06 18:11:29 -05:00
matlabbe b95537a680 Added c++11 definition when latest libpointmatcher is found 2020-11-06 16:37:29 -05:00
matlabbe e102243f0e Fixed weight=-8 bug when moving rehearsed node to trash 2020-11-06 14:47:10 -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 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 92b1dabf1c MainWindow: avoid uncompressing images/scans if they are not shown 2020-11-03 16:12:43 -05:00
matlabbe e269067d4c Texturing: add distanceToCamPolicy option 2020-11-03 16:11:37 -05:00
matlabbe 596cd10b69 Fixed -lBoost::timer not found on ubuntu18.04/arm64 (#587) 2020-11-01 13:08:55 -05:00
matlabbe 6a730b51c7 GUI-Preferences: disabled Daisy feature option on OpenCV 2 2020-11-01 13:01:23 -05:00
matlabbe 4ecf37a3ab fixed build with OpenCV 2.4 2020-11-01 12:49:21 -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 25c2a51ee3 fixed windows build 2020-10-29 18:03:36 -04:00
matlabbe 600484e12c Update .appveyor.yml 
#624
 2020-10-29 11:52:25 -04:00
matlabbe 8878d9fcdf Update .appveyor.yml 
#624
 2020-10-29 11:44:31 -04:00
matlabbe 72e1649cdd DataRecorder: added imu filtering by default 2020-10-22 18:02:24 -04:00
matlabbe afbc0edbd6 Local occupancy grid: fixed empty obstacles with scans having intensity channel when Grid/RangeMax is used. 2020-10-21 15:38:19 -04:00
matlabbe fbc30042c4 Fixed biggest index/min/max when Grid/MaxGroundHeight is set (http://official-rtab-map-forum.67519.x6.nabble.com/Comparison-between-realsense-D435-vs-T265-vs-T265-D435-dual-setup-td6456i20.html) 2020-10-18 15:56:13 -04:00
matlabbe a4da1e14b4 SIFT: fixed SIFT not extracted with OpenCV >=4.4 and >=3.4.11 when nonfree is false 2020-10-17 20:34:24 -04:00
matlabbe 3047b7da6b CameraRealSense2: update for L515 support 2020-10-17 19:57:27 -04:00
matlabbe bbb3c56008 Fixed android build 2020-10-16 14:55:50 -04:00
matlabbe f71f00277c DbViewer::AddConstraint: don't ask ofr manual constraint if already aborted previous question (when Reg/Strategy=1). 2020-10-12 17:41:06 -04:00
matlabbe 0e5ec91280 DbViewer: added option to ignore landmarks. Show landmark id in Constraints View. 2020-10-12 15:29:20 -04:00
matlabbe 3aae79270f Output an error if a timestamp file is missing instead of asserting #613 2020-10-12 14:30:57 -04:00
matlabbe 1b4a992b55 Merge branch 'master' of https://github.com/introlab/rtabmap into devel 2020-10-12 13:16:08 -04:00
matlabbe 384b120d2e Fixed landmark ignored when Rtabmap/StartNewMapOnLoopClosure is true and a loop closure is rejected (before graph optimization) 2020-10-12 13:05:14 -04:00
matlabbe 304c365ae6 Kp/ByteToFloat: Changed default of false 
Based on http://official-rtab-map-forum.67519.x6.nabble.com/ZED2-rtabmap-loop-closure-and-twisted-map-tp6986p7002.html
 2020-10-12 11:04:59 -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 6d552b7873 DbViewer: fixed depth of features not shown 2020-10-09 11:10:48 -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 168c87b5ba Added statitic Timing/RAM_estimation/. Updated VWDictionary::getMemoryUsed(). 2020-10-05 22:11:28 -04:00
matlabbe a80e062bef Fixed build error in Trusty 2020-10-05 18:17:18 -04:00
matlabbe 9e321971ef Removed debug log 2020-10-05 17:49:26 -04:00
matlabbe 8260733b11 fixed detectMoreLoopClosures when RGBD/LocalBundleOnLoopClosure is true 2020-10-05 17:47:13 -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 bedc771fa4 Rtabmap: added getNodesInRadius() public functions 2020-09-28 12:03:42 -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 c5158cade5 Fixed loop closure rejected if the camera on the robot changes orientation accordingly to base frame (http://official-rtab-map-forum.67519.x6.nabble.com/Mapping-with-multiple-stereocameras-localization-with-multiple-monochrome-monocular-cameras-tp6647p6953.html). The reason why that check was there was because ICP flipping 180 deg in some cases, but should be already detected with that commit https://github.com/introlab/rtabmap/commit/7a1cf84b0845f430fdaf0800c0960c9795a73ec4#diff-b65a61c23197f7ff77a877f62b630b2cR283. 2020-09-27 14:38:36 -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 3d33370e4c DbViewer: fixed error log when showing landmarks in Constraints view. 2020-09-15 17:12:00 -04:00
matlabbe 4e6e404951 Fixed "[Setjac] infinite jac" error when Vis/ForwardEstOnly is false. OptimizerG2O: Added a check to ignore invalid 3d points. 2020-09-15 15:18:49 -04:00
matlabbe 29368ebdb3 report: fixed database order in localization results 2020-09-15 14:06:23 -04:00
matlabbe a24211583d Rtabmap: init Bayes prediction when loading a database 2020-09-11 10:55:33 -04:00
matlabbe d50b33a7b8 Preferences: updated warnings for free sift (#596) 2020-09-10 17:56:49 -04:00
matlabbe a689d8a23f report: fixed how localization stats are split against localization sessions only 2020-09-10 14:09:27 -04:00
matlabbe bd80811ea1 Stats: added Loop/Distance_since_last_loc 2020-09-10 14:07:53 -04:00
matlabbe cabf03af44 Memory: fixed keypoints3d wrongly copied when not using odom features 2020-09-08 21:24:47 -04:00
matlabbe f93cdc31a6 Gui/source/K4A: added more description 2020-09-04 15:12:05 -04:00
matlabbe e0973fea92 CameraK4A: added imu support with playback. Fixed windows build error. 2020-09-04 14:10:32 -04:00
matlabbe 49cb470b8d CameraK4A: refactored to unify playback and real device code. Fixed ir option (with rectification). 2020-09-04 12:48:18 -04:00
matlabbe d2784095a3 Added K4A status on --version. About: added Mynteye status 2020-09-04 10:39:15 -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 24052a6ebe fixed pcl::getAngle3D not found error on latest pcl version (https://github.com/PointCloudLibrary/pcl/commit/6df3e602a72ea16657f901c9a6911d95b263ba08#diff-8e08415b9972a447d115dbca3f8fa0a1) 2020-08-25 10:56:30 -04:00
matlabbe 775c9318d3 Fixed Too large rotation detected message 2020-08-21 15:57:28 -04:00
matlabbe f263d560b4 OdomF2M: fixed complexity null for first scan is not having normals already 2020-08-21 14:32:08 -04:00
matlabbe 729f96f467 TORO: added warnings when prior or landmark links are detected 2020-08-21 11:26:22 -04:00
matlabbe 8d63e9eae1 Fixed 'cannot find -lBoost::thread' build error when building only with libpointmatcher dependency 2020-08-14 12:25:03 -04:00
matlabbe 39f68c44c6 Recovery: set back database in mapping mode after being saved in localization mode 2020-08-03 13:46:42 -04:00
matlabbe 0a9d237ac2 0.20.3: CameraRealSense2: Fixed D435i accel/gyro profile selection to avoid crash. Fixed Integrated D415 fix (#469) 2020-08-01 20:29:47 -04:00
matlabbe 07d21e6b03 VINS update log: printf to UDEBUG 2020-07-30 12:34:58 -04:00
matlabbe 53a759e2da Fixed missing vins usage with run_euroc_datasets.sh 2020-07-29 11:50:53 -04:00
matlabbe 6741355842 Ignore invalid GPS values (NaN #570) 2020-07-29 10:39:34 -04:00
matlabbe 1460c56254 Merge branch 'melodic-devel' of https://github.com/introlab/rtabmap 2020-07-12 15:02:00 -04:00
matlabbe dec135a3fb package.xml: added explicitly libvtk-qt dependency for debian build error 2020-07-12 14:59:40 -04:00
matlabbe 9edd9b741d tango-api19: fixed docker build 2020-07-10 22:16:16 -04:00
matlabbe 43eba76a20 docker: updated tango-api19 image 2020-07-10 15:26:59 -04:00
matlabbe bf45a0cba2 docker: fixed arcore not correctly extracted 2020-07-10 09:04:38 -04:00
matlabbe 4be07fc3e9 fixed tango build without arcore support 2020-07-10 08:58:56 -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 169b79215d Memory::computeIcpTransformMulti() added support for 3d scans with RGB channel (L515) 2020-07-08 13:43:28 -04:00
matlabbe 4a09c4bdcf Odometry: fixed Reg/Force3DoF ignored if filters are not used 2020-07-08 10:03:54 -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 55228aa574 Update README.md 2020-07-02 21:43:10 -04:00
matlabbe e800662bac Fixed build with OpenCV >= 3.4.11 2020-07-02 16:29:23 -04:00
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 cd10cafd0e Windows: fixed CameraRealSense2 driver freezing on close. 2020-07-01 20:58:04 -04:00
matlabbe 736cf0efc7 Windows: fixed stamp now() issue 2020-07-01 16:53:57 -04:00
matlabbe 4f6d8b1fbe Windows: add depthengine_2_0.dll plugin when packaging with K4A support 2020-07-01 14:46:37 -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 661a05b0da CameraMyntEye: fixed M_PI not defined error 2020-06-30 23:36:12 -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 4857d43146 android: ui update. fixed arcore java driver not stopping in background 2020-06-29 20:41:59 -04:00
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 2ee3445728 Docker: updated arcore 1.18 download link 2020-06-29 15:35:14 -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 542f06ec24 ARCore: features from arcore are used directly for keypoints 2020-06-29 15:08:24 -04:00
matlabbe dacf724ea6 Rtabmap::addLink() support multi-session 2020-06-25 13:56:01 -04:00
matlabbe 274903dd63 Rtabmap::getSignatureCopy() added withWords and withGlobalDescriptors options 2020-06-22 22:56:25 -04:00
matlabbe c19f81ac12 Memory::getNodeData() removing not wanted data if the node with all its data has been found in working memory. 2020-06-22 22:29:26 -04:00
matlabbe 846bd59d0b Rtabmap::addLink() removed an error log that is actually a debug log. 2020-06-22 21:53:22 -04:00
matlabbe 6e1f07e097 CameraK4A: fixed IMU local transform, fixed some compilation warnings. 2020-06-22 19:42:55 -04:00
matlabbe 1ca2c25a10 DbViewer: fixed empty from scan when refining proximity link by space 2020-06-22 13:07:27 -04:00