matlabbe
44810a14e0
Show if built with PDAL on --version option
2021-10-01 11:49:45 -04:00
matlabbe
467ea42981
OdometryFLOAM: fixed published local scan map local transform
2021-09-30 10:05:56 -04:00
matlabbe
77d947d4fb
Fixed FLOAM not working when local transform is not Identity. DBViewer: warn user when scan from dpeth is checked and there are no depth images in db.
2021-09-30 09:53:50 -04:00
matlabbe
533d78d570
Fixed OdometryOpenVINS build errors with latest OpenVINS code.
2021-09-28 17:12:08 -04:00
matlabbe
8c56b5b1ce
CMake: added WITH_OPENMP option (to be able to disable it). CameraOpenNI2: Added depth decimation parameter. CLAMS: can apply distortion model to smaller images.
2021-09-24 17:31:16 -04:00
matlabbe
bccc5b13af
FLOAM: added some debug logs
2021-09-24 11:32:25 -04:00
matlabbe
5f65618d40
Added OdomLOAM/Resolution parameter
2021-09-22 10:48:59 -04:00
matlabbe
cff0d15460
Fixed "wrong scan number" error when OdomLOAM/Sensor is 0 (VLP16)
2021-09-22 10:06:34 -04:00
matlabbe
14b56813d3
Updated for AliceVision >=2.4.0 compatibility. Export: added --multiband_contrib option.
2021-09-19 20:20:45 -04:00
matlabbe
a901f20d06
0.20.14: added globalBundleAdjustment CLI, added Rtabmap/Memory::cleanupLocalGrids function, init with optimizedPoses from db even in mapping mode, reprocess: added -db option to save optimized 2d grid in database.
2021-09-11 11:35:43 -04:00
matlabbe
3ba02d2ef6
Added OdometryFLOAM (Odom/Strategy=11)
2021-09-09 17:38:54 -04:00
matlabbe
45d51808e3
💄
2021-09-08 09:38:16 -04:00
matlabbe
bc39b19517
projectCloudToCamerasImpl: fixed bug using wrong camera models
2021-09-08 09:34:21 -04:00
matlabbe
7baedf4c72
texturing: remove assert when poses and models are not the same size (just ignore poses without models, intermediate nodes issue)
2021-09-07 16:26:56 -04:00
matlabbe
20361400e1
export: output intensity channel with RGB when --cam_projection and --scan options are set (PDAL required)
2021-09-07 15:57:23 -04:00
matlabbe
c43118cde8
Fixed F2F-Optical flow not creating keyframes bug
2021-09-03 15:33:22 -04:00
matlabbe
f88ce1618b
OdometryORBSLAM3: fixed re-initilisation of camera parameters when restarting camera with different config.
2021-08-26 15:34:48 -04:00
matlabbe
ed68fe777b
Added more options for multiband texturing
2021-08-16 13:14:02 -04:00
matlabbe
a5685c3e31
Fixed build without DepthAI dep
2021-07-28 17:05:16 -04:00
matlabbe
138d4aa1be
If RGBD/LoopClosureReextractFeatures=true, don't save raw features (3d point, descriptor) to Feature table.
2021-07-28 14:32:32 -04:00
matlabbe
32bf0f9d61
Fixed CameraDepthAI with latest depthai version (using now camera eeprom calibration and added imu support)
2021-07-28 14:19:30 -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
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
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
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
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
9fccb8703a
Merge branch 'master' of https://github.com/introlab/rtabmap into ios
2021-06-21 09:41:11 -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
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
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
chameau5050
f94f9cbb9b
improve flood fill and move it to update function ( #727 )
...
* add flood fill filter
* change to use unordoned_multiset
* remove recursivity in flood fill and move the flood fill into the update
* Refactoring of OctoMap constructors (keeping only one). Simplified floodfill parameters to only one and added it to UI.
* Fixed ray tracing not done in local 3D maps (OctoMap)
Co-authored-by: MarcLeclercGit <marcantoine.leclerc96@gmail.com >
Co-authored-by: matlabbe <matlabbe@gmail.com >
2021-05-30 10:12:07 -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
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
