matlabbe
18ff5bb410
OdomF2M/Icp: fixed substracting points when normals are not used
2020-04-09 09:59:22 -04:00
matlabbe
06caa328a4
Lidar low complexity update. util3d::computeNormalsComplexity(): added optional transform (used in RegistrationIcp to get normal vectors in right coordinate frame). RegistrationIcp: Fixed PointToPoint ICP not used with PM when recomputing transform from low complexity. Added more info in warning messages when low complexity happens. OdometryF2M: avoid adding key frame when scan has low complexity. Same for the first frame to init the local scan map.
2020-03-28 16:25:27 -04:00
matlabbe
af9e113112
Gui: added missing OdomF2M/ScanRange parameter
2019-12-11 17:17:29 -05:00
PrescilliaA
4479a6f7e8
Odometry local map can be limited by range ( #482 )
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* Odometry local map is now dependent on robot range and not on time, recalculating normals after adding new scan to the map as well
2019-12-11 13:43:38 -05:00
matlabbe
1e298dcfa2
CameraRealSense2: updated how imu are published in inter mode and fixed some local transforms. GUI-VINS: features are shown in Odometry view.
2019-10-13 14:48:11 -04:00
matlabbe
955660ba2a
CameraRealSense2: added stereo ir support for D400 cameras, added publishInterIMU parameter (required for VINS fusion).
2019-09-18 20:55:48 -04:00
matlabbe
b2b1977f8b
Deprecated getClosestTransform(), use getTransform() instead. OdometryF2M: removed patch about forcing roll/pitch from IMU (BA is already doing the job).
2019-09-15 17:31:58 -04:00
matlabbe
350d3cd85f
CameraRealSense2: fixed wrong IR image index. DBReader: fixed imu not published. OdometryF2M: use IMU roll/pitch values when IMU is used (reducing variance on those angles before BA).
2019-09-13 21:45:13 -04:00
matlabbe
536f001479
Added OptimizerCeres class (Optimizer/Strategy=3)
2019-08-17 03:55:04 -04:00
matlabbe
2a1b737470
OdometryVINS: fixed output pose orientation (D435i and euroc compatible)
2019-08-15 16:46:56 -04:00
matlabbe
b5f5623af4
CameraRealSense2: updated how stamping is done, updated default D435 frame resolution/fps
2019-06-06 17:17:11 -04:00
matlabbe
4c8af6d6e9
fix build errors with opencv2, added Transform::getClosestTransform() function for convenience.
2019-05-31 16:51:37 -04:00
matlabbe
e887d462ce
Memory: Added parameter Mem/UseOdomGravity, adding kGravity links when creating a node if IMU is present or Mem/UseOdomGravity is set. Fixed OpenCV4 related build errors on stereo fisheye rectification code. Signature: changed links from map to multimap to support having multiple self references (prior, gravity constraints...). DBReader: publish IMU orientation if a gravity link is detected.
2019-05-31 15:36:35 -04:00
matlabbe
f8a8e55e7e
UI: Update preferences with the new imu filter parameters. Camera: added imu filtering option. Updated support for zedm, D435i and T265.
2019-05-13 18:42:46 -04:00
matlabbe
e6f471d88e
Added imu to odom bundle adjustment. Added IMUFilter classes. Changed Aruco parameter prefix to Marker. Zed: publishing IMU data.
2019-05-07 18:57:53 -04:00
matlabbe
77ae8e108a
0.19.2: Refactored SensorData interface. DBReader: Fixed GPS not published. #345 : both g2o and gtsam working with GPS. g2o: added gravity edges.
2019-04-09 20:05:24 -04:00
matlabbe
6f4dce52fc
OdometryOkvis: return pose only after processing measurements (images)
2019-03-20 22:10:15 -04:00
matlabbe
3cafdf911b
Docker: added new "latest" version of jfr2018 image (including VINS and latest rtabmap version). Updated jfr2018 scripts to easily switch to host installed rtabmap instead of docker
2019-03-20 19:36:56 -04:00
matlabbe
24a4d91ee8
OdometryOKVIS: added warning if config file doesn't exist, also replace ~ by home directory for convenience
2019-03-20 13:10:14 -04:00
matlabbe
c0a7c3a344
0.19.1: Added OdometryVINS (VINS-Fusion integration, Odom/Strategy=9)
2019-03-18 20:45:34 -04:00
matlabbe
c8db45b2a4
reverted 977f8eb262 (was not the problem...)
2019-03-14 19:06:32 -04:00
matlabbe
977f8eb262
OdometryF2M: fixed orientation ignored when setting initial pose for scans
2019-03-14 14:15:53 -04:00
matlabbe
cf4db63226
New parameter: OdomF2M/ValidDepthRatio
2019-03-06 12:35:54 -05:00
matlabbe
9da2c1918f
CameraImages: moved scan filtering stuff to CameraThread
...
Preferences->Source: refactored scan filtering parameters
OdometryF2M and OdometryF2F: moved odom orientation init from IMU to OdometryROS instead
2019-01-15 15:41:07 -05:00
matlabbe
abbcc4f8a9
CameraFreenect: set accelerometer values in IMU member of SensorData. OdomF2M and OdomF2F: intialize orientation with gravity for the first frame if accelerometer value is valid in SensorData.
2018-12-01 00:25:48 -05:00
matlabbe
b862d6bc48
0.18.2: Added Odom/GuessSmoothingDelay parameter
2018-11-21 11:57:04 -05:00
matlabbe
433e20869c
fixed #333
2018-11-08 10:52:12 -05:00
matlabbe
c14e20330f
Fixed SIFT octave issue causing registration to always fail. Added Bundler export points option.
2018-10-24 20:01:57 -04:00
matlabbe
39e1d45369
Fixed build with OpenCV4 ( #322 )
2018-10-21 13:35:03 -04:00
matlabbe
0059a4bc1b
Camera refactoring ( #315 )
...
* Camera Refactoring part 1 (Mac OS X)
* fixed camera*** -> Camera***
* Fixed build for cameras Zed/RealSense/RealSense2
* increased version to 0.17.7
* fixed build for cameras K4W2 and FlyCapture2
2018-10-01 19:33:56 -04:00
