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
66fca15cc6
Added rtabmap-info console tool
2020-04-24 13:45:41 -04:00
matlabbe
94360e19e0
DBReader: changed maxFrames option to stopId and startIndex to startId. Reprocess: added options to start and stop at specific ids in the database.
2020-04-22 16:20:29 -04:00
matlabbe
f575652456
0.19.7: added SuperPoint Torch feature support. RegVis: keep Feature2D detectors as class members instead of recreating them at each registration.
2020-04-16 17:59:45 -04:00
matlabbe
de354b901d
RegInfo: added icpStructuralDistribution info
2020-04-14 17:06:53 -04:00
matlabbe
cdff33b1c2
Added Mem/LocalizationDataSaved parameter
2020-04-05 19:21:20 -04:00
matlabbe
b95195d8bb
CameraRealSense2: added json preset file option ( #513 )
2020-04-01 12:25:28 -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
06caa328a4
Lidar low complexity update. util3d::computeNormalsComplexity(): added optional transform (used in RegistrationIcp to get normal vectors in right coordinate frame). RegistrationIcp: Fixed PointToPoint ICP not used with PM when recomputing transform from low complexity. Added more info in warning messages when low complexity happens. OdometryF2M: avoid adding key frame when scan has low complexity. Same for the first frame to init the local scan map.
2020-03-28 16:25:27 -04:00
matlabbe
9993c4f2f7
Parameters.h: fixed warning C4305
2020-03-12 00:57:11 -04:00
matlabbe
6133399b2e
util3d: added intersectRayMesh() and intersectRayTriangle() functions
2020-03-03 14:32:12 -05:00
matlabbe
c2dde973a6
Odometry: rectify stereo images for convenience if Rtabmap/ImagesAlreadyRectified is false and odometry strategy cannot process raw images
2020-03-02 16:57:14 -05:00
matlabbe
5daf4e5b2b
Rtabmap: avoid optimizing for only gravity if odometry is already aligned with gravity
2020-02-26 13:40:03 -05:00
matlabbe
5fef44ec2b
DBViewer: Added option to crop empty space from local grid and scans after 2d occupancy grid is manually edited
2020-02-13 17:32:39 -05:00
matlabbe
79b480da4b
Rtabmap: added addLink() function
2020-02-11 23:33:18 -05:00
matlabbe
e2e2227895
ZED: Fixed compilation error with ZED SDK3 ( #499 ). Added textureness confidence thr parameter (default 90, working only with ZED SDK3)
2020-02-03 17:59:07 -05:00
Walter Lucetti
8810c9e694
Compilation fixes ( #501 )
...
Great! Thx a lot!
It should fix issue #499 as well.
2020-01-31 14:17:10 -05:00
matlabbe
f7540196d4
Fixed many compilation warnings (c++14, like pedantic warnings)
2020-01-30 17:23:02 -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
Louis Petit
af2b221958
OctoMap added frontier cloud output
2019-12-17 17:31:37 -05:00
matlabbe
62a2af193c
fixed a compilation warning
2019-12-11 15:58:05 -05:00
PrescilliaA
4479a6f7e8
Odometry local map can be limited by range ( #482 )
...
* Odometry local map is now dependent on robot range and not on time, recalculating normals after adding new scan to the map as well
2019-12-11 13:43:38 -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
5d789f75a9
Merge branch 'alicevision'
2019-10-28 21:17:16 -04:00
matlabbe
2afa76c07c
AliceVision integration, see util3d::multiBandTexturing()
2019-10-28 21:16:02 -04:00
matlabbe
260192bcc4
CameraRealSense2: Updated how D435i timestamp issue is handled (see also https://github.com/IntelRealSense/librealsense/issues/4505 )
2019-10-25 18:21:40 -04:00
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
9cb1e4bbc5
CameraRealSense2: Added Dual Mode (T265+D400)
2019-10-03 21:06:33 -04:00
matlabbe
955660ba2a
CameraRealSense2: added stereo ir support for D400 cameras, added publishInterIMU parameter (required for VINS fusion).
2019-09-18 20:55:48 -04:00
matlabbe
b2b1977f8b
Deprecated getClosestTransform(), use getTransform() instead. OdometryF2M: removed patch about forcing roll/pitch from IMU (BA is already doing the job).
2019-09-15 17:31:58 -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
e968fd3ef4
Remove landmark links when a node is deleted (and removed from the graph) #441
2019-09-01 13:17:44 -04:00
matlabbe
536f001479
Added OptimizerCeres class (Optimizer/Strategy=3)
2019-08-17 03:55:04 -04:00
matlabbe
4b118ae660
Added FastCV support (see FAST/CV parameter). VWDictionary: loading fixed dictionary only on updates (to avoid loading it multiple times when memory is reset).
2019-08-14 12:09:56 -04:00
matlabbe
6767c2ade2
0.19.5: added Icp/RangeMin and Icp/RangeMax parameters
2019-08-01 16:21:01 -04:00
matlabbe
89f1e809e6
CameraK4A: use mkv framerate if camera rate is -1. Preferences/Source: fixed imu filter parameters not reset on restore defaults
2019-07-11 18:13:20 -04:00
matlabbe
0973f48b2c
CameraK4A: added finding lib on linux
2019-07-10 12:34:13 -04:00
matlabbe
3c7719f6d8
Added CameraK4A driver (only MKV playback supported yet). Fixed build with realsense2 support on Windows. Preferences: added imu filtering parameters to ini file.
2019-07-09 20:48:09 -04:00
matlabbe
49977b5475
Added ground truth localization error stats
2019-06-26 16:21:03 -04:00
matlabbe
50fdc210c9
Memory: added some warnings about pre-postdecimation parameters, updated their description (removed negative decimation comment)
2019-06-17 10:19:54 -04:00
matlabbe
d205683eb5
Added parameters Vis/MeanInliersDistance and Vis/MinInliersDistribution
2019-06-16 18:54:39 -04:00
matlabbe
85edc57ba5
Added RGBD/MaxLocalizationDistance parameter
2019-06-12 16:03:52 -04:00
matlabbe
b5f5623af4
CameraRealSense2: updated how stamping is done, updated default D435 frame resolution/fps
2019-06-06 17:17:11 -04:00
matlabbe
ec943198f0
Rtabmap: re-optimize at each frame when gravity constraints are added
2019-05-31 19:31:11 -04:00
matlabbe
4c8af6d6e9
fix build errors with opencv2, added Transform::getClosestTransform() function for convenience.
2019-05-31 16:51:37 -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
71f7515775
Added resolution parameters for Usb camera and realsense2 sources
2019-05-15 19:21:32 -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
