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0.20.16-noetic
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1242 Commits

Author SHA1 Message Date
matlabbe
8662eb0dd7 Statistics: added OdomCache data for debugging 2021-12-18 18:53:59 -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
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
12906f4490 DBViewer: export poses: added explicit otion for ground truth if available 2021-12-03 13:43:53 -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
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
b002e85e0f Update ProgressDialog.h 
Typo param name should be in seconds, not milliseconds.
 2021-11-09 17:36:34 -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
20bc281db7 DbViewer: don't show landmark links for ignored ndoes (w=-9), auto-zoom grid map if there are a lot of unknowns. Updated Docker nvidia files to include default Documents/RTAB-Map directory. 2021-11-04 13:00:08 -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
d16e24a1a3 Fixed compiler warning 2021-10-07 10:19:32 -04:00
matlabbe
ab5fd5018b DbViewer: added update all landmark covariances menu action, also enabled edit constraint on landmark links. Covariance can be set to 9999. 2021-10-06 11:34:40 -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
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
5f65618d40 Added OdomLOAM/Resolution parameter 2021-09-22 10:48:59 -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
44b057b0d7 DbViewer: fixed icp from depth option not used when refining or adding loop closures automaticaly 2021-09-13 15:59:19 -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
e017a0fcf4 DbViewer: fixed initial rootid with older databases, fixed RGBD/OptimizeFromGraphEnd not correctly used. 2021-09-08 18:13:20 -04:00
matlabbe
b932da6dcf DbViewer: Adjusted GraphView's root id based on latest valid node on initialization 2021-08-28 20:23:44 -04:00
matlabbe
ed68fe777b Added more options for multiband texturing 2021-08-16 13:14:02 -04:00
matlabbe
138d4aa1be If RGBD/LoopClosureReextractFeatures=true, don't save raw features (3d point, descriptor) to Feature table. 2021-07-28 14:32:32 -04:00
matlabbe
32bf0f9d61 Fixed CameraDepthAI with latest depthai version (using now camera eeprom calibration and added imu support) 2021-07-28 14:19:30 -04:00
matlabbe
456560b9e4 DBViewer/Extract Images: export calibration for each image, also now export multi-camera calibrations. 2021-07-07 12:21:57 -04:00
matlabbe
05d45872f3 DBReader: publish landmarks by default (also added option to ignore them) 2021-06-29 16:03:21 -04:00
matlabbe
2b9ae3a2ad Added Icp/DebugExportFormat parameter 2021-06-26 16:06:25 -04:00
matlabbe
1a64e05e2f fixed code merged 2021-06-26 13:47:49 -04:00
matlabbe
350f995ee9 merged master to scan_map branch 2021-06-25 16:38:03 -04:00
matlabbe
eabf3e3d57 Decimation parameters for feature detection cannot be negative anymore (always done based to RGB image and depth image is decimated only if it is bigger than decimated rgb image). MainWindow: fixed light blue screen-only on full rehearsal merge. 2021-06-25 12:54:52 -04:00
matlabbe
11e9837b82 Added RGBD/ProximityGlobalScanMap for proximity detection using the whole scan map in localization mode. Added Icp RMS statistics (CCCorelib). Updated how localization is corrected with gravity when available (simply use roll and pitch of current gravity constraint). 2021-06-23 17:13:07 -04:00
matlabbe
dddf6378ae MainWindow: fixed currentVisiblePosesMap 2021-06-22 08:16:39 -04:00
matlabbe
5167927d01 report: added --ignore_inter_nodes option. CloudViewer: set max absolute scan intensity to 100 (was 0=auto). reprocess/replay db: ignore intermediate nodes if Rtabmap/CreateIntermediateNodes is false. 2021-06-21 17:23:53 -04:00
matlabbe
9fccb8703a Merge branch 'master' of https://github.com/introlab/rtabmap into ios 2021-06-21 09:41:11 -04:00
matlabbe
62b5f13dd8 MainWindow: added currentVisiblePosesMap() 2021-06-20 23:05:24 -04:00
matlabbe
d75cc04ad2 CloudViewer: fixed opengl not refreshed on update (VTK9). Fixed File Explorer hanging (Qt 5.12). Fixed backup database not deleted after a recovery. 2021-06-18 12:43:08 -04:00
matlabbe
289d4afd76 ios first release 2021-06-08 00:06:49 -04:00
matlabbe
12c46286f6 CameraRealSense2: added support for device id like D435, t265, L515, d435i, d415 for convenience (if we have multiple D435, we still need to use on of the serials shown in log info when starting the driver) 2021-06-01 11:40:46 -04:00
chameau5050
f94f9cbb9b improve flood fill and move it to update function (#727) 
* add flood fill filter

* change to use unordoned_multiset

* remove recursivity in flood fill and move the flood fill into the update

* Refactoring of OctoMap constructors (keeping only one). Simplified floodfill parameters to only one and added it to UI.

* Fixed ray tracing not done in local 3D maps (OctoMap)

Co-authored-by: MarcLeclercGit <marcantoine.leclerc96@gmail.com>
Co-authored-by: matlabbe <matlabbe@gmail.com>
 2021-05-30 10:12:07 -04:00
matlabbe
127a41a53e MainWindow::createCamera() fixed parameters not passed by reference 2021-05-26 21:13:14 -04:00
matlabbe
ada3e75005 Camera class: localTransform parameter should not have optical rotation anymore (it is added afterwards in the constructor). OdomSensor: the extrinsics should not contain optical rotation anymore. These 2 changes make it more convenient to set transfomation parameters in the UI. MainWindow::createCamera() now has odomSensor argument for convenience (for inherited classes to set both camera and odom sensor in the same function). 2021-05-26 13:40:46 -04:00
matlabbe
21dbeed4b7 Odom sensor option (#726) 
* Added Odom Sensor option

* Odom Sensor: Added pose time offset parameter

* Gui: fixed odom cloud not shown when rgb/depth doesn't have same size. Odom sensor: fixed rawImages set on non-stereo camera (because stereoRectify wrongly set to all cameras)

* Calibration: fixed rgb and depth suffixes not correctly set. OpenNI2: horizontal and vertical shifts can be also set for default calib.

* Fixed a warning

* OdomSensor: added option to use odom sensor output as ground truth (for comparison between odom sensor and rtabmap odom). Added scale factor option.

* FindG2O.cmake: updated path suffixes to find EXTERNAL csparse

* Pose3GravityFactor: fixed dllimport error on windows

* UI: Statistics panel not updated if not visible and keep stats in cache is unchecked. Added description to some timing debug logs in processStatistics().

* Removed vtkOutputWindow on Windows

* Odom Sensor: added zed sdk support

* bump version 0.20.11
 2021-05-23 17:21:12 -04:00
matlabbe
56bc15d7cd MainWindow: fixed bg color not shown on loop closures when only scans are used. 2021-05-16 11:15:05 -04:00
matlabbe
e9d7fcd7ae Vtk9 support (#722) 
* Fixed build with VTK9

* Fixed VTK9 build with OctoMap dependency (vtkRenderingVolumeOpenGL2 missing)
 2021-05-15 19:43:47 -04:00
matlabbe
8c336e1e39 Voxel filter: added support for very large clouds. Gui/Export: added footprint filtering option. Moved all filtering options under Cloud Filtering group. 2021-05-14 21:02:09 -04:00
matlabbe
3b7c6cd1f4 DBViewer: added camera projection on scan option (GUI params). Fixed some deprecated warnings. 2021-04-19 18:14:20 -04:00