matlabbe
29a2b64a0c
RGBD/NeighborLinkRefining: do one proximity detection by time if intermediate nodes are added. Optimized radiusFiltering(). Updated default parameters of proportionalRadiusFiltering().
2022-01-14 18:47:57 -05:00
matlabbe
51f6b32f47
Fixed windows build ( https://ci.appveyor.com/project/matlabbe/rtabmap/builds/42207812 )
2022-01-14 14:33:32 -05:00
matlabbe
9e0173f4cb
Export: added random sample filter, added proportional radius filter, refactored when normals are computed (now after the clouds are assembled and voxelized), moved ceiling and floor filtering inside assembling loop.
2022-01-14 13:36:01 -05:00
matlabbe
12c2dd707c
Localization with Reg/Force3DoF=true, fixed how graph optimization errors are computed (use only x,y,yaw).
2022-01-12 16:59:03 -05:00
matlabbe
fcec98105d
Added RGBD/ProximityMergedScanCovFactor parameter. Localization: fixed output height when Reg/Force3DoF=true but input poses are 6DoF. Transform: added is3DoF() and is4DoF() functions. GTSAM: when Reg/Force3DoF=true, copy input roll,pitch,z values for output poses. RegIcp: fixed working memory dir '~' conversion. RGBD/ProximityGlobalScanMap: fixed map::at error when some nodes don't have scans.
2022-01-12 16:14:42 -05:00
matlabbe
a4ec95963e
Fixed a debug information
2022-01-11 15:59:53 -05:00
matlabbe
49353b134c
LaserScan: fixed destination format when source is empty with operator+
2022-01-11 15:32:30 -05:00
matlabbe
145430cafd
Fixed noetic build (g2o error)
2022-01-03 16:05:11 -05:00
matlabbe
5194f40794
Fixed g2o build error with melodic/noetic versions
2022-01-03 15:37:06 -05:00
matlabbe
b2f13c2772
android: fixed g2o seg fault (CACHE_SE3_OFFSET not registered)
2022-01-02 23:30:55 -05:00
matlabbe
a3823594a4
Converted an assert to an error.
2021-12-26 14:53:22 -05:00
matlabbe
3071da42f3
Optimizer: don't fix roll/pitch on root node if gravity constraints are fed
2021-12-25 16:57:03 -05:00
matlabbe
93ee8f9b30
Working dir path: convert ~ to Home for convenience. Localization: don't show "cannot optimize" warning when RGBD/MaxOdomCacheSize=0
2021-12-24 18:24:44 -05:00
matlabbe
7ca881453e
RGBD/StartAtOrigin: set first node of the graph, not Identity
2021-12-20 17:01:08 -05:00
matlabbe
8662eb0dd7
Statistics: added OdomCache data for debugging
2021-12-18 18:53:59 -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
bca8b30832
Localization 2d Slam: automatically rotate landmark links to have z-axis up for correct 3DoF optimization. When RGBD/MaxOdomCacheSize is used, wait for at least 2 temporal localizations before adjusting the pose (to avoid big jumps when only one constraint is used).
2021-12-17 11:00:37 -05:00
matlabbe
0e62050824
rtabmap: fixed graph re-optimized with only virtual links in localization mode (which can make gtsam crash because of under constrained covariance)
2021-12-12 13:07:02 -05:00
matlabbe
cf5e90238b
Statistics: added LoopOdom_correction stats for landmark detections.
2021-12-10 21:58:11 -05:00
matlabbe
8cf12c6135
Improved localization mode accuracy (decreasing jumps on consecutive loop closures or landmark detections). Updated usage of parameter RGBD/MaxOdomCacheSize (default 0->10)
2021-12-10 17:48:36 -05:00
matlabbe
4ab0090ecd
Support feature-only rectification when using external extracted features.
2021-12-06 09:26:10 -05:00
matlabbe
580e35afb1
Fixed missing 3D keypoints when RGBD/LoopClosureReextractFeatures=true and Reg/Strategy=1 ( https://github.com/introlab/rtabmap_ros/issues/668 ). DBViewer: fixed wrong poses optimization with GTSAM when showing scans of loop closures by proximity by space (multiscan) while there are GPS priors.
2021-12-05 17:38:53 -05:00
matlabbe
baae713471
Fixed unknown lines for octomap 2D grid projection. ( https://github.com/introlab/rtabmap_ros/issues/684 )
2021-11-30 20:34:51 -05:00
matlabbe
67710ef94c
Export: optimized camera projection RAM usage. Added --texture_angle and --cam_projection_decimation options.
2021-11-21 17:10:57 -05:00
matlabbe
090ae0c444
DbViewer: added option to show disparity instead of right image in main views for stereo data
2021-11-20 16:36:54 -05:00
matlabbe
5fcbe2ed70
iOS: fixed install script ( #785 #741 )
2021-11-16 18:11:40 -05:00
matlabbe
9ae2c46546
CMake: fixed build without Python and Ceres if WITH_PYTHON and WITH_CERES are OFF (even if found by third party libraries, related to #783 ).
2021-11-15 18:00:17 -05:00
matlabbe
7af2a27e89
Improved log error when ROI is set with SuperPoint ( https://github.com/introlab/rtabmap_ros/issues/676 )
2021-11-14 20:26:42 -05:00
matlabbe
dbecaac809
Moved bin dir inside build directory ( #784 )
...
* Moved bin directory inside build directory (to make easier different builds with same source directory)
* Switched include order to avoid problems with remaining Version.h still in source directory taen before the one in binary dir. Fixed android build (updated res tool search path).
* workflow-cmake: fixed path to bin directory
2021-11-14 19:29:37 -05:00
matlabbe
6c07a670ee
Added OdometryOpen3D
2021-11-13 19:45:57 -05:00
matlabbe
ec2aa5c952
OpenNI2: depth shift can be negative. MainWindow: postProcessing() refactoring (split with and without dialog).
2021-11-09 10:16:12 -05:00
matlabbe
ddd5eb5a41
CameraRealSense2: Odom extrinsics against another sensor can be calibrated with having to calibrate stereo first. DBViewer: fixed local grid wrongly using global grid parameters.
2021-11-05 18:05:50 -04:00
matlabbe
7c5acd8970
Parameters: Changed Grid/FromDepth to Grid/Sensor to add a new choice to use both scan and depth for local grids. Increased version to 0.20.15.
2021-10-29 20:05:12 -04:00
matlabbe
8682026396
Rtabmap: when optimizing graph, removed guess for rootid to avoid global rotation drift over time. CameraStereoImages: set BayerMode also to right image. GraphView: fixed 0 width for line inside NodeItem. Reprocess: added -loc_null and -gt options.
2021-10-23 11:17:42 -04:00
matlabbe
44810a14e0
Show if built with PDAL on --version option
2021-10-01 11:49:45 -04:00
matlabbe
467ea42981
OdometryFLOAM: fixed published local scan map local transform
2021-09-30 10:05:56 -04:00
matlabbe
77d947d4fb
Fixed FLOAM not working when local transform is not Identity. DBViewer: warn user when scan from dpeth is checked and there are no depth images in db.
2021-09-30 09:53:50 -04:00
matlabbe
533d78d570
Fixed OdometryOpenVINS build errors with latest OpenVINS code.
2021-09-28 17:12:08 -04:00
matlabbe
8c56b5b1ce
CMake: added WITH_OPENMP option (to be able to disable it). CameraOpenNI2: Added depth decimation parameter. CLAMS: can apply distortion model to smaller images.
2021-09-24 17:31:16 -04:00
matlabbe
bccc5b13af
FLOAM: added some debug logs
2021-09-24 11:32:25 -04:00
matlabbe
5f65618d40
Added OdomLOAM/Resolution parameter
2021-09-22 10:48:59 -04:00
matlabbe
cff0d15460
Fixed "wrong scan number" error when OdomLOAM/Sensor is 0 (VLP16)
2021-09-22 10:06:34 -04:00
matlabbe
14b56813d3
Updated for AliceVision >=2.4.0 compatibility. Export: added --multiband_contrib option.
2021-09-19 20:20:45 -04:00
matlabbe
a901f20d06
0.20.14: added globalBundleAdjustment CLI, added Rtabmap/Memory::cleanupLocalGrids function, init with optimizedPoses from db even in mapping mode, reprocess: added -db option to save optimized 2d grid in database.
2021-09-11 11:35:43 -04:00
matlabbe
3ba02d2ef6
Added OdometryFLOAM (Odom/Strategy=11)
2021-09-09 17:38:54 -04:00
matlabbe
45d51808e3
💄
2021-09-08 09:38:16 -04:00
matlabbe
bc39b19517
projectCloudToCamerasImpl: fixed bug using wrong camera models
2021-09-08 09:34:21 -04:00
matlabbe
7baedf4c72
texturing: remove assert when poses and models are not the same size (just ignore poses without models, intermediate nodes issue)
2021-09-07 16:26:56 -04:00
matlabbe
20361400e1
export: output intensity channel with RGB when --cam_projection and --scan options are set (PDAL required)
2021-09-07 15:57:23 -04:00
matlabbe
c43118cde8
Fixed F2F-Optical flow not creating keyframes bug
2021-09-03 15:33:22 -04:00
