matlabbe
17d8a92614
Update README.md
2021-07-20 12:58:42 -04:00
matlabbe
a91cd0c659
Update README.md
2021-07-20 12:58:16 -04:00
matlabbe
ae92ec40d7
Fixed build with LOAM dependency
2021-07-14 13:22:47 -04:00
matlabbe
7338cb8a85
Localization: fixed initial graph optimization root id (based on RGBD/OptimizeFromGraphEnd) when optimized graph is not saved in db.
2021-07-09 14:57:15 -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
f9257beeb8
export: updated default poses format (11)
2021-07-05 12:58:24 -04:00
matlabbe
485bf806bd
export tool: use pcl's PLY writer instead of pdal if camera ids are not exported (ply compatibility issue when reading back using pcl)
2021-07-05 10:04:51 -04:00
matlabbe
68ae3b76af
export: updated to export calibration for every files (to support auto-focus cameras). Added output_dir option.
2021-07-05 09:46:12 -04:00
matlabbe
05d45872f3
DBReader: publish landmarks by default (also added option to ignore them)
2021-06-29 16:03:21 -04:00
matlabbe
3da4bb9faa
For Icp/DebugExportFormat and RGBD/ProximityGlobalScanMap, use Rtabmap/WorkingDirectory as output directory for debugging files.
2021-06-27 20:37:42 -04:00
matlabbe
a921d615c5
0.20.13: templated laserScanFromPointCloud() version with PCLPointCloud2 to be also used with sensor_msgs/PointCloud2 class (for rtabmap_ros).
2021-06-27 20:07:00 -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
be24203840
iOS: added toast info on rejected loop closures
2021-06-24 22:39:25 -04:00
matlabbe
48ebf969bd
OdometryInfo: fixed IcpRMS not copied in copyWithoutData()
2021-06-24 22:38:19 -04:00
matlabbe
656618ccb7
Merge branch 'master' of https://github.com/introlab/rtabmap into scan_map
2021-06-24 19:53:23 -04:00
matlabbe
f5ab422c42
Odom: when odom is auto reset, reprocess the latest image and return its pose
2021-06-24 13:41:38 -04:00
matlabbe
5a676e9032
Fixed negative Odom/ImageDecimation not handled
2021-06-24 12:44:18 -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
f475f2d21c
0.20.12: iOS/android sync
2021-06-21 10:07:30 -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
b8c22e1c99
Fixed pcl::voxelGrid filtering crash on Windows (latest PCL, eigen allocation issue)
2021-06-18 16:02:17 -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
a9d4fc9291
Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping).
2021-06-15 20:45:45 -04:00
matlabbe
696216b35b
Fixed occlusion image origin offset (iOS and android). Android: disabled maximum odom image rate for faster feedback in First-Person. Min/Max range parameters also filter scans. Fixed background renderer not showing image (ARCore Java driver).
2021-06-13 22:07:47 -04:00
matlabbe
6342658ec5
iOS: fixed origin when we do New Scan while we were already mapping, improved FPV feedback in point cloud mode, showing camera overlay in visualization mode (pinch out to disable). Localization mode: Updated how marker detection transform are modified by gravity constraints.
2021-06-12 12:42:56 -04:00
matlabbe
3f633081cb
iOS: improved feedback in first-person mapping mode (red background), fixed not matching camera overlay with 3D model, updated how memory usage is computed.
2021-06-11 21:41:59 -04:00
matlabbe
a6f3a81999
fixed ios build
2021-06-11 10:20:07 -04:00
matlabbe
3e3d4142fc
RGBD/OptimizeMaxError default to 1 for mobile apps. iOS: increased Kp/MaxFeatures to 400 (was 200).
2021-06-11 09:29:37 -04:00
matlabbe
0a37d01d1d
ios/android: Updated default MaxOptimizeError to 1.5x
2021-06-10 11:27:53 -04:00
matlabbe
ba38d9f321
Added depth/rgb registration option
2021-06-10 11:07:25 -04:00
matlabbe
d7b5fa5d17
fixed android build
2021-06-09 17:45:01 -04:00
matlabbe
766301b175
fixed desktop build
2021-06-09 11:25:01 -04:00
matlabbe
289d4afd76
ios first release
2021-06-08 00:06:49 -04:00
matlabbe
630cb6a59f
Odometry: when "Rtabmap/ImagesAlreadyRectified" is false and odometry strategy doesn't support raw images, added rectification for RGB-D data (only rgb rectified though) for convenience.
2021-06-01 14:33:17 -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
matlabbe
c9dbe6205d
Docker: added nvidia drvier embedding examples for convenience
2021-05-30 14:21:17 -04:00
matlabbe
b7c2f6801b
unknownSpaceFilled: refactored approach to fix the case of 360 scan with first ray y>=0 (turtlebot3 sim).
2021-05-27 18:19:34 -04:00
matlabbe
8b1b874bf3
Statistics: added LoopOptimization_max_ang_error stats
2021-05-27 13:00:29 -04:00
matlabbe
127a41a53e
MainWindow::createCamera() fixed parameters not passed by reference
2021-05-26 21:13:14 -04:00
matlabbe
c1492533c3
OctoMap: fixed empty cells not all added to global occupancy grid
2021-05-26 16:27:49 -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
fe896260c5
commonFiltering(): warn when normals could not be computed (returned all NaNs)
2021-05-16 11:58:17 -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 )
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* 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
4390cb6428
calibration tool: added RealSense2 T265 support
2021-05-12 18:31:41 -04:00
matlabbe
20c2e8b5be
Docker: updated libpointmatcher version in bionic/focal images ( https://github.com/introlab/rtabmap/issues/720 )
2021-05-12 14:01:26 -04:00
matlabbe
ad8b2301d8
Docker/focal: fixed alicevision patch corrupted (no newline)
2021-05-12 11:27:26 -04:00
matlabbe
d75f9524f3
Export: added --texture_depth_error option
2021-05-12 10:56:16 -04:00
matlabbe
aedc70218b
Docker: added AliceVision dependency to focal image
2021-05-12 10:38:37 -04:00
matlabbe
a11492943a
Export CLI: added print info for coloring mesh step
2021-05-10 15:19:48 -04:00
matlabbe
854a52c6a5
Export CLI: added noise_radius and noise_k options to filter noise
2021-05-10 14:45:35 -04:00
matlabbe
6449302318
appveyor: added opencv 4.5.0 binaries with opencv_contrib
2021-05-02 21:41:48 -04:00
matlabbe
3623ede989
Update .appveyor.yml
2021-05-02 20:37:45 -04:00
matlabbe
0e051a16a0
Update .appveyor.yml
2021-05-02 20:00:16 -04:00
matlabbe
c88e3d0a8b
Update .appveyor.yml
2021-05-02 19:55:57 -04:00
matlabbe
ff956a725e
Fixed "localization won't be corrected with gravity" warning in localization mode and imu data are not used (while Optimizer/GravitySigma>0)
2021-05-02 19:42:59 -04:00
matlabbe
40ab98a814
docker-focal: cleanup downloaded k4a binaries
2021-05-02 13:30:57 -04:00
matlabbe
f02efb5836
docker-focal: added libfreenect2, k4a, realsense2, zed open capture support ( #673 )
2021-05-02 13:17:53 -04:00
matlabbe
0764999f22
Fixed focal docker image with gtsam ( #673 )
2021-05-02 11:59:36 -04:00
matlabbe
7515556444
Update LICENSE
2021-04-23 20:42:39 -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
matlabbe
93bfad626e
Update .travis.yml
...
Removed deprecated trusty build from travis (https://travis-ci.org/github/introlab/rtabmap/jobs/766950721 )
2021-04-14 13:12:31 -04:00
matlabbe
2fcef88016
Export: added --poses_format option (default 10=RGBD-SLAM format). Added new pose format 11=RGBD-SLAM + ID.
2021-04-13 15:49:04 -04:00
matlabbe
f4207979ad
Export: fixed calibration not exported if camera name is not set. For multi-camera, added index suffix to yaml.
2021-04-09 16:20:08 -04:00
matlabbe
b92f55be43
Export tool: added multi-camera support when exporting camera poses
2021-04-08 10:23:38 -04:00
matlabbe
a8f0abf892
MainWindow::processOdometry() rectify images if Rtabmap/ImagesAlreadyRectified is false.
2021-04-02 19:06:03 -04:00
matlabbe
54267b1b33
Preferences: fixed backward compatibility error "Conversion failed from true for parameter Icp/Strategy" when loading old database with Icp/PM
2021-03-31 12:02:56 -04:00
matlabbe
4c1e72d82e
Added OpenVINS minimal support (tested with EuRoC dataset)
2021-03-28 23:51:02 -04:00
matlabbe
a58ec494d1
icpCC: when force3DoF is true, set z to 0 in data conversion
2021-03-28 09:28:55 -04:00
matlabbe
69735b6271
Added removeNaNFromPointCloud for PCLPointCloud2 type
2021-03-28 00:15:47 -04:00
matlabbe
d002711f21
reprocess tool: Updated usage description to upgrade db version
2021-03-27 16:21:52 -04:00
matlabbe
06e85e140c
Refactored RegistrationIcp: libpointmatcher yaml config usage / integrated CCCoreLib ( #704 )
...
* Refactored RegistrationIcp so that libpointmatcher yaml can work with icp odometry (we can then avoid refiltering data with local map of F2M). All data filtering (including libpointmatcher DataFilters) are done at the beginning of the function.
* ICP: Restored ref and data scans order for libpointmatcher (seems more stable this way).
* Fixed compilation error without libpointmatcher
* CCCoreLib integration (Icp/Strategy=2). Icp/PMForce4DoF is now Icp/Force4DoF. Icp/PM is now Icp/Strategy. Icp/PMOutlierRatio is now Icp/OutlierRatio.
* Fixed build without CCCoreLib
* Cleanup RegistrationIcp from third party functions.
* Preferences: disable libpointmatcher and cccorlib options if not available
2021-03-27 15:11:20 -04:00
matlabbe
c4d127cae4
Export: added more options for pose format and image file name.
2021-03-21 19:05:24 -04:00
matlabbe
21737f9937
Added description fo RGBD/Enabled parameter
2021-03-17 23:58:12 -04:00
matlabbe
ccc519ec58
Export: added --output name option.
2021-03-13 20:58:10 -05:00
matlabbe
1e4b172a7d
Export: added poisson polygon size option
2021-03-13 19:01:09 -05:00
matlabbe
752509fb15
Rtabmap::detectMoreLoopClosures: added clusterRadiusMin parameter and update optimized poses after each accepted loop closure (also in MainWindow) like in DbViewer. Added graph::computeMinMax(poses). OdometryInfo: added guess transform. Export: added min/max axis ranges to filter nodes before expoting clouds.
2021-03-13 18:42:13 -05:00
matlabbe
f6e17be2b4
Added ViewPlane XY, XZ and YZ options to GraphViewer
...
Parameter RGBD/SavedLocalizationIgnored now called RGBD/StartAtOrigin (updated description, used only in localization mode)
IcpReg: if Force4DoF, set lower covariance values for roll and pitch
DbViewer: updated detectMoreLoopClosures with new minRadius option and update optimized poses between each new accepted loop closures.
MainWindow: suppressed warning if depth image is not found in current node data (when rgb is).
3D Map view: changed default map point size to 1 (was 2)
2021-03-12 17:47:36 -05:00
matlabbe
da2e2f810c
Updated images
2021-03-09 17:48:40 -05:00
matlabbe
5b44c557b3
Update README.md
2021-03-09 17:44:39 -05:00
matlabbe
600d68932d
updated images
2021-03-09 17:43:27 -05:00
matlabbe
800d087b07
Added archive directory to put paper related scripts
2021-03-09 17:08:42 -05:00
matlabbe
db43479e44
Added ORB_SLAM3 support. IMU Filter: added base frame conversion option. ( #698 )
...
Referred issues:
#655
https://github.com/introlab/rtabmap_ros/issues/492
Note: IMU not supported yet with ORB_SLAM3.
Commits:
* Added orbslam3 support. UI-Source->IMU filtering: Added base frame conversion option of IMU data to uniformize yaw initialization. Madgwick: fixed yaw initialization accordingly to Z acc.
* fixed regression build error with ORB_SLAM2
* Renamed OdometryORBSLAM2 to OdometryORBSLAM (can be 2 or 3 now)
2021-03-09 16:00:41 -05:00
matlabbe
736c8aceae
Export tool: show an error if file doesn't exist
2021-03-09 14:06:33 -05:00
matlabbe
351c659beb
Integrated DepthAI (gen2) ( #696 )
...
* Added OAK-D camera support (DepthAI)
* Fixed build without DepthAI dependency
* Added minimum version 2 for depthai
* fixed trusty build
2021-03-07 12:27:21 -05:00
matlabbe
ab8f0e2b34
Fixed #695 (footprint not cleared correctly when GridGlobal/OccupancyThr>0)
2021-03-05 18:35:49 -05:00
matlabbe
4f46d8e904
Updated some RGBD/Proximity**** parameter descriptions. Added parameter RGBD/LoopClosureIdentityGuess. Fixed local map cleared in localization when RGBD/SavedLocalizationIgnored is true (should then assume it is starting from origin).
2021-03-04 11:26:35 -05:00
matlabbe
98c69c4578
Fixed Force4DoF param not used exception on older libpointmatcher versions
2021-03-02 17:27:25 -05:00
matlabbe
4e4207a6dd
CMake: updated to support latest g2oConfig.cmake (using targets)
2021-03-02 18:17:09 +00:00
matlabbe
ea4cc7cb6c
Refactored how IMU is used in odometry (if guess is not set, use imu orientation for guess). Changed canProcessIMU() to canProcessAsynIMU() to make it more clear for odometry approaches able to process IMU between image frames (VIO approaches). ZedOC: fixed device closed if imu is not detected.
2021-03-01 19:27:24 -05:00
matlabbe
f7bc47572b
Parameters: Icp/VoxelSize default updated from 0 to 0.05
2021-03-01 11:22:40 -05:00
matlabbe
d119487dd7
Coloring scan (camera projection on point cloud) ( #693 )
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* ExportClouds: Added camera projection options
* ExportClouds: fixed ceiling/floor filtering options not saved in config
* ExportClouds: fixed colorless scan points still exported when option is unchecked.
* Export tool: added --bin, --poses, --images, --las and --cam_projection options; export with intensity with --scan option. PDALWriter: added binary option (only used for PLY an PCD formats). Rtabmap: Do graph optimization if neighbor link refined and Mem/UseOdomGravity is used.
2021-03-01 09:56:37 -05:00
matlabbe