i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-11 20:39:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

Commit Graph

  • dacf724ea6 Rtabmap::addLink() support multi-session matlabbe 2020-06-25 13:56:01 -04:00
  • 274903dd63 Rtabmap::getSignatureCopy() added withWords and withGlobalDescriptors options matlabbe 2020-06-22 22:56:25 -04:00
  • c19f81ac12 Memory::getNodeData() removing not wanted data if the node with all its data has been found in working memory. matlabbe 2020-06-22 22:29:26 -04:00
  • 846bd59d0b Rtabmap::addLink() removed an error log that is actually a debug log. matlabbe 2020-06-22 21:53:22 -04:00
  • 6e1f07e097 CameraK4A: fixed IMU local transform, fixed some compilation warnings. matlabbe 2020-06-22 19:42:55 -04:00
  • 1ca2c25a10 DbViewer: fixed empty from scan when refining proximity link by space matlabbe 2020-06-22 13:07:27 -04:00
  • c5ec4f337b util3d::segmentObstaclesFromGround() fixed no ground returned if maximum ground height is set and the biggest plane was not under that height (e.g., ceiling having more points than ground) matlabbe 2020-06-18 21:30:43 -04:00
  • 554b08256b Statistics: Added Odometry_correction_acc_* matlabbe 2020-06-18 14:47:00 -04:00
  • a2b0de2a4d MacOSX bundle: fixed ui native style with Qt>=5.10 matlabbe 2020-06-18 12:09:26 -04:00
  • fb6659e29d CloudViewer: reduced ambient lighting for textureMesh with VTK>=7 matlabbe 2020-06-18 11:28:53 -04:00
  • db00f55981 CloudViewer: fixed texture not shown with VTK>=7 matlabbe 2020-06-18 10:59:42 -04:00
  • ffdb2eb855 Docker: added focal image, fixed bionic image not building with alicevision. Updated travis with focal build. matlabbe 2020-06-09 21:15:54 -04:00
  • 13679cc52a Export tool: fixed generated texture output directory matlabbe 2020-06-09 12:58:55 -04:00
  • 4769fc235f Refactoring: set default local transform for camera drivers to opticalRotation. Added CameraModel::opticalRtotation() static function for convenience. Added CameraModel::load() from file directly for convenience. Added Camera::initFromFile() for convenience. Transform: Added opengl_T_rtabmap() and opengl_T_rtabmap() functions for convenience (convert back and forth between rtabmap world and opengl world coordinate frames) matlabbe 2020-06-08 11:40:47 -04:00
  • ff5695878c Rtabmap::init() added loadDatabaseParameters argument for convenience (default false to be backward compatible) matlabbe 2020-06-08 10:35:12 -04:00
  • 6029b6283d Rtabmap: Refactored how fake odom is generated in localization mode when no odom is provided. Trigger new map in localization mode also clears last localization pose if RGBD/SavedLocalizationIgnored is true. matlabbe 2020-06-08 10:14:21 -04:00
  • 86ac63ab19 UPlot: changed float to qreal (double). Added UPlot::frameData() function. matlabbe 2020-06-07 11:55:27 -04:00
  • de5610bd08 Added preferences for Azure Kinect camera (#559) Thomas Kircher 2020-06-04 07:34:37 -08:00
  • 7a9a5d2ef9 CloudViewer: updated camera clipping 2 matlabbe 2020-06-03 14:50:59 -04:00
  • b6d4c6f024 CloudViewer: fixed camera clipping the grid matlabbe 2020-06-03 13:41:36 -04:00
  • ff3c6c8e06 Update README.md matlabbe 2020-06-02 19:59:21 -04:00
  • e2007a8f82 CloudViewer: fixed build with vtk<6 0.20.0-noetic 0.20.0-kinetic matlabbe 2020-06-01 22:18:45 -04:00
  • bda18bc517 CloudViewer: added EDL shading option matlabbe 2020-06-01 21:44:42 -04:00
  • d00717b068 package.xml: removed explicit dependency to libvtk-qt (https://github.com/introlab/rtabmap/issues/557) matlabbe 2020-06-01 11:42:35 -04:00
  • c7be9a23ee OdometryF2M: refactored imu buffer matlabbe 2020-05-31 14:33:20 -04:00
  • caffb56246 DBViewer: fixed StereoSGBM panel not shown. Odometry: fixed Odom/GuessSmoothingDelay type matlabbe 2020-05-31 13:26:54 -04:00
  • d5cfd8013d CameraMyntEye: added setIrControl() matlabbe 2020-05-31 12:17:14 -04:00
  • 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. matlabbe 2020-05-31 11:22:12 -04:00
  • 6e55525a7b Memory::getNeighborsId() fixed no link returned when looking in database matlabbe 2020-05-30 09:20:32 -04:00
  • 7eae992d6f rtabmap-report: fixed map.at() error if the database as empty statistics matlabbe 2020-05-28 21:21:31 -04:00
  • 2509b6ee09 Statistics: added MapToOdom and MapToBase stats matlabbe 2020-05-28 21:04:01 -04:00
  • 45ddce938a CameraMyntEye/GUI: added manual/auto exposure option (default auto). Rtabmap: refactored warning when RGBD/OptimizeFromGraphEnd changes state. matlabbe 2020-05-28 19:50:02 -04:00
  • 6e0081e248 MainWindow: made mynteye action checkable. matlabbe 2020-05-28 14:04:10 -04:00
  • bf39c5295b Ported PCL 1.11 deprecated changes to PCL 1.10 (#550) matlabbe 2020-05-27 17:45:16 -04:00
  • 8842d0c0e3 fixed isfinite -> std::isfinite matlabbe 2020-05-27 16:39:50 -04:00
  • 511be5f663 Fixed build with pcl 1.11 (#550). Fixed pcl 1.11 warnings (boost->std). matlabbe 2020-05-27 16:35:33 -04:00
  • ae5ce029d6 Fixed SIFT build issue between OpenCV 4.3.0 and OpenCV 4.3.0-dev matlabbe 2020-05-27 10:35:18 -04:00
  • 798466bb05 Increased ros package version to 0.20.0. Parameters: fixed default feature detector when xfeatures2d is not found matlabbe 2020-05-26 22:44:44 -04:00
  • 0902ccc340 Updated error message when SBA is done on multicam setup. matlabbe 2020-05-26 11:04:23 -04:00
  • 208f1e5b7c OdomF2M: fixed complexity check on 2d scans (https://github.com/introlab/rtabmap_ros/issues/412) matlabbe 2020-05-25 20:07:58 -04:00
  • b40d9610ed Preferences: Fixed xfeatures2d features not available without nonfree on OpenCV >= 3.4.2 (https://github.com/introlab/rtabmap_ros/issues/422) matlabbe 2020-05-25 17:29:22 -04:00
  • 35385e299d K4A mapping working now (#554) Thomas Kircher 2020-05-25 07:46:16 -08:00
  • 6acfc62196 CloudViewer: adjust frustum fov based on camera model (https://github.com/introlab/rtabmap_ros/issues/419) matlabbe 2020-05-24 11:13:13 -04:00
  • eb9999d7b1 Rtabmap::addLink() supporting localization mode. MainWindow: fixed flickering camera frustum. matlabbe 2020-05-21 21:26:29 -04:00
  • 69a2aacc8e Parameters: added SIFT/RootSIFT parameter. matlabbe 2020-05-21 17:09:20 -04:00
  • 013bd0c72a K4A device, fixed some stale edits (#553) Thomas Kircher 2020-05-20 15:36:15 -08:00
  • 89ece8cd4e Preliminary K4A device support (#552) Thomas Kircher 2020-05-20 11:31:30 -08:00
  • 360a153565 Parameters: Renamed SuperGlue group to PyMatcher group. Added OANet python script. matlabbe 2020-05-20 09:45:39 -04:00
  • 63d40b2240 Fixing trusty build matlabbe 2020-05-19 18:06:20 -04:00
  • cb60443a33 Fixing OpenCV<3 build matlabbe 2020-05-19 15:44:41 -04:00
  • 609d45ac9b 💄 matlabbe 2020-05-19 15:33:32 -04:00
  • b542d6a0db Added Kinect for Azure menu option (#551) Thomas Kircher 2020-05-19 11:03:36 -08:00
  • 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. matlabbe 2020-05-19 15:01:50 -04:00
  • 55509c6c27 Fixed build with OpencV 2.4 and Qt4 matlabbe 2020-05-13 15:15:52 -04:00
  • 00695731fe SuperGlue: added traceback when there is an error with python. matlabbe 2020-05-13 11:18:34 -04:00
  • 09d2f7d232 Fixed android build matlabbe 2020-05-12 22:04:03 -04:00
  • e906b40e50 Fixed build with opencv < 3.4.1 matlabbe 2020-05-12 10:23:29 -04:00
  • 1b675c3dcb Preferences: fixed SuperGlue/Indoor widget not found matlabbe 2020-05-11 14:10:49 -04:00
  • d2673ed2fa Added GMS matching approach (Vis/CorNNType=7). Added GMS/ parameters. Added SuperGlue/Indoor parameter. ImageView: updating feature and line colors directly when changing color (option menu), fixed items already added to scene warning when switching to GraphicsView. matlabbe 2020-05-11 13:23:26 -04:00
  • cc9fd439fe SuperPoint: updated descriptor normalization process to match exactly the implementation in SuperGlue. generateWords3DMono: use variance at 25% instead of 50% of the sqrd variance vector (to do the same than with PnP), also fixed return camera transform to include local transform of the camera model. rtabmap-matcher: updated default parameters when no depth images are used, added reproj error in title bar. matlabbe 2020-05-10 14:13:41 -04:00
  • fbdc3780c7 Freenect: fixed imu local transform. Preferences: show imu filters with freenect driver. matlabbe 2020-05-09 23:13:39 -04:00
  • c44837a4cb Fixed build without SuperGlue matlabbe 2020-05-09 21:41:38 -04:00
  • 91285e5e97 Added SuperGlue support (Vis/CorNNType=6). Added rtabmap-matcher tool. DBViewer: show matches/inliers when refine also fails. SIFT: make sift always available on OpenCV 4.3.0 (#538). Parameters: changed SPTorch prefix to SuperPoint, replaced Vis/CorCrossCheck by Vis/CorNNType=5. matlabbe 2020-05-09 21:13:41 -04:00
  • abc3ebee8c fixed #538 matlabbe 2020-05-09 11:48:06 -04:00
  • 1af139134e Deprecated Rtabmap::get3DMap(), use Rtabmap::getGraph() instead with setting to true the data flags. Rtabmap::getGraph() now ignores children nodes. matlabbe 2020-05-06 08:04:58 -04:00
  • 7d377d26df Added Rtabmap::getSignatureCopy() matlabbe 2020-05-05 13:26:40 -04:00
  • 7041d5fd34 Fixed #541 matlabbe 2020-05-03 22:59:35 -04:00
  • c19da22ca4 0.20: added GlobalDescriptor table in database matlabbe 2020-05-03 21:46:25 -04:00
  • 50c3bb7ce9 fixed #540 0.19.7 matlabbe 2020-05-03 14:05:14 -04:00
  • 0a4d0038cb Preferences dialog: fixed missing Vis/CorCrossCheck checkbox matlabbe 2020-05-02 11:03:17 -04:00
  • d14efea4ac Added Vis/CorCrossCheck parameter (to use BFMatcher with crosscheck option instead of knn with NNDR for features matching). DBViewer: after refine or add constraint, lines indicating feature correspondences are now shown with different color if they are inliers. Re-enabled saving/loading settings of the ImageViews (feature color, line color, transparency...). matlabbe 2020-05-01 22:12:56 -04:00
  • 45223b306a Increased SPTorch/Threshold decimals for more fine tuning in DBViewer matlabbe 2020-05-01 19:59:28 -04:00
  • 3e9cff4053 fixed build with opencv 4.3 matlabbe 2020-05-01 09:51:54 -04:00
  • 46886f2637 Report: added invert and ids options. Reprocess: show node id along map id when processing. matlabbe 2020-04-30 17:00:09 -04:00
  • 40804d9120 Statistics: added x,y,z map corrections. Report: added options --stats to show available statistics to plot in a database matlabbe 2020-04-30 15:48:47 -04:00
  • 803c99cee2 RegVis: fixed Vis/MaxDepth and Vis/MinDepth ignored when features are already extracted. matlabbe 2020-04-30 15:07:32 -04:00
  • 5d16ae8cfe DBViewer: fixed calibration not found on refining without re-extracting features, fixed visualized ids switched on refine in some cases, fixed clouds not shown in constraints view after refine without re-extracting features matlabbe 2020-04-30 14:17:46 -04:00
  • ace93b0356 GUI: check mynteye when selected matlabbe 2020-04-30 01:00:17 -04:00
  • 14ec619b1e Added MYNT EYE S support. Fixed StereoCameraModel rectification not done with non-square images, also updated to support fisheye model. matlabbe 2020-04-30 00:57:47 -04:00
  • b3eee0d7bf android: fixed yuv conversion bug on some devices, updated default driver based on which one is available and built with it. matlabbe 2020-04-29 12:18:02 -04:00
  • 37e0860b0c android: Fixed upload button not visible in Sketchfab activity, webview can be canceled matlabbe 2020-04-27 17:35:06 -04:00
  • be57c2752d Fixed gravity links not added for optimization when both prior and gravity links are added to same nodes matlabbe 2020-04-26 23:45:32 -04:00
  • 1a3c90e898 cleanup some debug logs matlabbe 2020-04-26 14:57:27 -04:00
  • 06482d2378 ARCore: when tof camera is not available, use arcore point cloud as keypoints matlabbe 2020-04-26 14:48:48 -04:00
  • 3abdd22031 android: fixed state locked in processing after saving matlabbe 2020-04-26 09:40:50 -04:00
  • 66fca15cc6 Added rtabmap-info console tool matlabbe 2020-04-24 13:45:41 -04:00
  • 0c04b77cd7 Android: simplified default workflow (open -> scan -> optimize/export -> save) matlabbe 2020-04-24 09:22:14 -04:00
  • 6bb6178ae5 android: fixed Resume disabled when returning from Visualization matlabbe 2020-04-24 08:23:17 -04:00
  • 4ad92f0261 Docker: fixed android-## cloning branch matlabbe 2020-04-24 07:33:48 -04:00
  • bc8d811f69 Dictionary: fixed L2SQR format for GPU BF matlabbe 2020-04-23 22:56:42 -04:00
  • e8be3f21fa SuperPoint: fixed nms bug matlabbe 2020-04-23 20:06:48 -04:00
  • 31e5f7804e DbViewer: set horizontal layout by default matlabbe 2020-04-23 15:27:31 -04:00
  • 9b54aeee22 Android: set estimation type to default PnP matlabbe 2020-04-23 15:13:58 -04:00
  • 00d8375a2e RGBD/SavedLocalizationIgnored: if true, it is now starting at the origin (0,0,0) instead of null (not linked to graph). matlabbe 2020-04-23 11:57:01 -04:00
  • 046e0b7888 updated xenial tango docker file matlabbe 2020-04-23 08:08:57 -04:00
  • 35074f6d9f DBViewer: fixed missing parameter groups in Core Parameters. MainWindow: disabled frames by default. matlabbe 2020-04-22 18:30:42 -04:00
  • 94360e19e0 DBReader: changed maxFrames option to stopId and startIndex to startId. Reprocess: added options to start and stop at specific ids in the database. matlabbe 2020-04-22 16:20:29 -04:00
  • 012439aa0b Tango refactoring (#534) matlabbe 2020-04-22 15:05:07 -04:00
  • 931d525874 Fixed build on kinetic (octomap version issue #529) matlabbe 2020-04-20 09:58:00 -04:00
  • 7cfc51315d CMake: find octomap instead of OCTOMAP #529 matlabbe 2020-04-18 16:03:09 -04:00