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Author SHA1 Message Date
matlabbe 28e624e6b2 fixed g2o build with c++14 #681 2021-01-20 10:45:45 -05:00
matlabbe 731b073ed8 Cleanup ObjDeletionHandler not used. Zed: fixed assert "qual >= sl::DEPTH_MODE::NONE && qual < sl::DEPTH_MODE::LAST" with latest sdk. 2021-01-19 17:24:38 -05:00
matlabbe 5d777469ff CameraRealSense2: refactored for freezing/crash issues on stop 0.20.8 2021-01-18 14:58:33 -05:00
matlabbe 70e9dff7da L515: downscale depth image if it has been upscaled during registration, fixed depth not correctly scaled in IR mode 2021-01-18 11:33:10 -05:00
matlabbe 814a243693 Add boost link dir on Windows #678 2021-01-17 15:06:47 -05:00
matlabbe c49785061f Added PyDetector (#677) 
* Added PyDetector. Refactored PyMatcher.

* Fixed python freezing with multi-threading
 2021-01-17 01:56:27 -05:00
matlabbe 0bc483b6d3 Added pdal optional dependency (export to LAS, E57, ...) 2021-01-14 15:49:18 -05:00
matlabbe eae5f2b428 fixed #674 2021-01-11 11:38:31 -05:00
matlabbe 94cf1dfd32 Fixed zero-ed 3D words when receiving odometry's 2D keypoints > Kp/MaxFeatures and empty 3D points 2021-01-09 20:52:34 -05:00
matlabbe 1a967127d9 Bump 0.20.8 version. Parameters: updated default of Vis/CorGuessWinSize=40 (was 20), GFTT/MinDistance=7 (was 3), Optimizer/GravitySigma=0.3 if built with g2o or gtsam. Those parameters help for smooth tracking on latest sensors with higher resolution and use IMU by default if available. Updated docker jfr2018 to use original parameters. CameraStereoZed: wait for imu to be available before sending frames (Zed-m and Zed2). 2021-01-08 13:04:24 -05:00
matlabbe 792c967d46 MainWindow: added driver options to differentiate between cameras having IMU or not (D400 vs D435i, ZED vs Zedm and Zed2). Enabled imu filtering by default for Freenect driver (Kinect XBOX360). 2021-01-08 01:10:23 -05:00
matlabbe a67dbc26f2 L515 refactoring (realsense v2.41.0, firmware 1.5.3): added IR-only mode support, fixed support with latest firmware, T265+L515 working, related to #574 #614 #629. MainWindow: Selecting RealSense2, ZED sdk, K4A, Mynteye drivers automatically enable gravity optimization (with IMU filtering). 2021-01-08 00:01:08 -05:00
matlabbe f1993d9cd7 android: fixed z-fighting on some android devices 2021-01-02 18:14:55 -05:00
matlabbe da99d7e4a0 disabled osx travis build (too long to do) 2020-12-20 00:07:34 -05:00
matlabbe e896ffb5c0 Update .travis.yml 2020-12-19 23:16:28 -05:00
matlabbe 04cbf56cc0 Update .travis.yml 2020-12-19 22:37:13 -05:00
matlabbe c5051bf82a Update .travis.yml 2020-12-19 21:38:13 -05:00
matlabbe 7a9f01b9a3 Update .travis.yml 2020-12-19 12:55:12 -05:00
matlabbe 70094edb75 Update .travis.yml 2020-12-19 12:38:36 -05:00
matlabbe eb2af19a89 Update .travis.yml 2020-12-19 12:28:02 -05:00
matlabbe af227bad51 Update .travis.yml 2020-12-19 12:21:25 -05:00
matlabbe ee63ce338a Update .travis.yml 2020-12-19 12:11:19 -05:00
matlabbe 1b3a6abb82 Update .travis.yml 2020-12-19 11:48:06 -05:00
matlabbe 4a8a20c7d1 Update .travis.yml 2020-12-19 11:24:19 -05:00
matlabbe a125797e50 Update .travis.yml 
Added osx
 2020-12-19 11:18:20 -05:00
matlabbe a6f0877045 Parameters: added Rtabmap/ImagesAlreadyRectified to odometry parameters (to be shown with --params) 2020-12-18 17:57:43 -05:00
matlabbe b5cae38eb9 Fixed -lBoost:timer not defined when building with latest GTSAM binaries 2020-12-18 17:01:11 -05:00
matlabbe d8ebbc2645 CameraK4A: rectifying color image (this improves a lot visual odometry accuracy) 0.20.7 2020-12-13 15:27:17 -05:00
matlabbe d700d09339 DataRecorder tool: interface changed to use config file (#661) 2020-12-13 12:42:58 -05:00
matlabbe 3104dff006 Update README.md 2020-12-13 11:10:22 -05:00
matlabbe 839045a538 package.xml: 0.20.7 0.20.7-noetic 0.20.7-kinetic 0.20.7-melodic 2020-12-12 19:05:06 -05:00
matlabbe a824945816 package.xml: removed libvtk-qt as there are conflicts on noetic with libpcl-dev (which is using vtk7) 2020-12-12 17:32:30 -05:00
matlabbe 1acf8ff193 RegIcp: don't assert if normals cannot be computed properly before doing complexity check, just reject the transform 2020-12-12 16:53:07 -05:00
matlabbe 51826c9a97 RegIcp: fixed KDTreeMatcherIntensity build error on Mac. 2020-12-11 17:22:29 -05:00
matlabbe 7a5d04062d vtk8: disabled vtkOutputWindow 2020-12-11 17:05:37 -05:00
matlabbe 049238dd59 Gui: added L515 icon 2020-12-11 09:56:17 -05:00
42Max42 3271723034 superpoint, fixing slow convert after cnn (#659) 
* fixing slow convert after cnn

* restoring cmake
 2020-12-11 09:27:18 -05:00
matlabbe da8e76ffed rtabmap-matcher: added --calibration_to option (to use a different calibration file for the second image). 2020-12-05 13:21:58 -05:00
matlabbe 3131474102 Added Db/TargetVersion parameter (#652) 2020-12-03 15:45:40 -05:00
matlabbe 3ffc8ce73f DBViewer: enabled Reject button on landmark links 2020-11-30 23:17:47 -05:00
matlabbe ee44adeb1f fixed #648 (build error without OctoMap dependency) 2020-11-30 12:33:08 -05:00
matlabbe 96c1c81e22 fixed build with older libpointmatcher versions <10300 2020-11-29 19:30:30 -05:00
matlabbe 0022b6b993 ExportCloudsDialog: added colormap option when showing scans 2020-11-28 18:02:54 -05:00
matlabbe 721e046f5d fixed build 2020-11-28 17:36:42 -05:00
matlabbe d733029565 Increased version to 0.20.7. OdometryF2M: added support for intensity field, removed ignored key frames when there is low scan complexity. RegistrationIcp: added Icp/PMMatcherIntensity, Icp/PointToPlaneGroundNormalsUp and Icp/PointToPlaneLowComplexityStrategy parameters. Rtabmap: when graph optimized from end, increased optimization error before warning that resulting map correction is not identity (this could happen with GTSAM as the root is not perfectly fixed). CloudViewer: added coordinate frame scaling option, added rainbow colormap option for scan intensity. DBViewer: fixed local proximity merged scans not shown modified after refining those links, show intensity, fixed constraints view not updated after rejecting a link. MainWindow: added intesity support with odometry scans. 2020-11-28 17:28:34 -05:00
matlabbe 7859313beb AppVeyor: updated realsense2 sdk to 2.40. CameraRealSense2: When GlobalTimeSync option is off, don't wait 35 ms for imu (and fails), just take the latest one directly (https://github.com/introlab/rtabmap/issues/614#issuecomment-732244439). 2020-11-23 11:36:27 -05:00
matlabbe 80199f23b5 RegIcp: complexity, checking if second eigen value is also under Icp/PointToPlaneMinComplexity to limit to only one axis. DbViewer: fixed refine link with scans having RGB channel. 2020-11-22 19:32:01 -05:00
matlabbe bce7ae6acd Fixed GTSAM reference frame yaw drift over time when gravity links are used 2020-11-22 16:40:30 -05:00
matlabbe f88845e138 fixed #643 2020-11-22 14:29:05 -05:00
matlabbe bdc7be40b4 Fix for previous commit https://github.com/introlab/rtabmap/commit/e4cb59b74d69887fd67700420d408db5a6850663 (otherwise imu are ignored if globalTimeSync is off) 2020-11-22 12:38:21 -05:00