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Author SHA1 Message Date
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) 
* 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 967c57d165 Added CameraStereoZedOC (Zed Open Capture driver). 
* Added CameraStereoZedOC (Zed Open Capture driver). Calibration: added stereo baseline option, show warning if fx is very different after stereo calibration.

* Fixed build without Zed Open Capture. Fixed "any" prefix added to all tools when WITH_ZEDOC=ON. UI: fixed Zed Open Capture action not disabled when not built with it.
 2021-02-28 10:31:18 -05:00
matlabbe 862eb0a90a CameraStereoVideo: added resolution options for usb camera 2021-02-25 22:22:44 -05:00
matlabbe cad184e82b Added Icp/PMForce4DoF parameter (works only with libpointmatcher > April 2020). Fixed some deprecated warnings. 2021-02-24 09:43:22 -05:00
matlabbe d61e463595 Updated About dialog with opencv license 2021-02-21 13:59:36 -05:00
matlabbe 5cdb346a35 Updated opencv license to Apache2 when version >= 4.5 2021-02-21 13:03:19 -05:00
matlabbe 8696a38343 Added parameter GridGlobal/AltitudeDelta 2021-02-21 13:00:16 -05:00
matlabbe e59aad03ed Fixed android build with latest laserScanFromPointCloud changes 2021-02-19 14:25:34 +00:00
matlabbe 9bf12742b1 fixed #688 2021-02-18 21:04:00 -05:00
matlabbe bb7e9edb9b Fixed create2DMap assert on 32FC2 when subscribing 2D scans with intensity. LaserScan: fixed assert when angle_min > angle_max (with angle_increment < 0) 2021-02-16 10:47:31 -05:00
matlabbe f871e4359d Fixed optimized map cleared when optimized graph is smaller than WM (poses should still refer to nodes in WM). Removed warning about max scan points smaller than actual scan (this can happen when assembling scans for proximity detection). Lowering default Icp/PMOutlierRatio to 0.85. 2021-02-12 18:40:40 -05:00
matlabbe 03cfaf2063 DBViewer: Added option to export odometry poses 2021-02-12 11:22:02 -05:00
matlabbe 089441a496 Fixed loadScan return 2D cloud for organized PCD 2021-02-10 21:35:09 -05:00
matlabbe 481a140f84 util3d: Refactored laserScanFromPointCloud() functions to return LaserScan with correct format instead of cv::Mat. 2021-02-07 17:27:55 -05:00
matlabbe c42a4e3d7e Fixed assert when loading database having optimized poses different from the working memory (force re-update graph in this case). 2021-02-06 15:10:18 -05:00
matlabbe c1a22609f3 Extract images: added timestamp.jpg/.png filname options (to match RGBD-SLAM pose format). Fixed wrong calibration file when first node is an intermdediate node. Export poses: ignore intermediate nodes when output frame is camera or scan. 2021-02-02 09:36:12 -05:00
matlabbe b759b1b4d1 DBReader: set calibrated true when only scans in db. RegIcp: added intensity matching option when complexity is low. OdomF2M: accept first key frame on low complexity if a guess is provided. DbViewer: added gravity visualization in 3D view. 2021-02-01 11:31:45 -05:00
matlabbe 6b119c1f90 Camera test view: show intensity/rgb/normals if input scans have them 2021-01-25 17:16:46 -05:00
matlabbe 7e298e1999 CameraImages: timestamp file is optional for pose format containing stamp 2021-01-25 13:21:39 -05:00
matlabbe c9472962d7 bumpt 0.20.9 version 2021-01-24 13:48:05 -05:00
matlabbe 4d75361fe0 CameraImages: support scan only dataset. 2021-01-24 13:21:30 -05:00
matlabbe e99c658276 fixed scan-only nodes wrongly set as intermediate nodes by default 2021-01-24 11:35:48 -05:00
matlabbe 57326214f1 Fixed texture projection when fx!=fy, cx!=w/2 or cy!=h/2 2021-01-24 10:39:36 -05:00
matlabbe 47e40ef34d MainWindow: add fake frustum when only lidar is received 2021-01-22 12:51:47 -05:00
matlabbe aa31a900fb fixed trusty build (#682) 
* fixed trusty build (g2o backward compatibility)
 2021-01-20 22:54:48 -05:00
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 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) 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 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