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Author SHA1 Message Date
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
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
chameau5050
b4f11e18f3 add flood fill filter (#714) 
* add flood fill filter

* change to use unordoned_multiset

Co-authored-by: MarcLeclercGit <marcantoine.leclerc96@gmail.com>
 2021-05-07 17:05:01 -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 0.20.9-noetic 0.20.9-melodic 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