 matlabbe
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481a140f84
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util3d: Refactored laserScanFromPointCloud() functions to return LaserScan with correct format instead of cv::Mat.
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2021-02-07 17:27:55 -05:00 |
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matlabbe
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c42a4e3d7e
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Fixed assert when loading database having optimized poses different from the working memory (force re-update graph in this case).
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2021-02-06 15:10:18 -05:00 |
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matlabbe
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c1a22609f3
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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.
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2021-02-02 09:36:12 -05:00 |
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matlabbe
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b759b1b4d1
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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.
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2021-02-01 11:31:45 -05:00 |
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matlabbe
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6b119c1f90
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Camera test view: show intensity/rgb/normals if input scans have them
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2021-01-25 17:16:46 -05:00 |
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matlabbe
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7e298e1999
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CameraImages: timestamp file is optional for pose format containing stamp
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2021-01-25 13:21:39 -05:00 |
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matlabbe
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c9472962d7
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bumpt 0.20.9 version
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2021-01-24 13:48:05 -05:00 |
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matlabbe
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4d75361fe0
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CameraImages: support scan only dataset.
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2021-01-24 13:21:30 -05:00 |
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matlabbe
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e99c658276
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fixed scan-only nodes wrongly set as intermediate nodes by default
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2021-01-24 11:35:48 -05:00 |
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matlabbe
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57326214f1
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Fixed texture projection when fx!=fy, cx!=w/2 or cy!=h/2
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2021-01-24 10:39:36 -05:00 |
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matlabbe
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47e40ef34d
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MainWindow: add fake frustum when only lidar is received
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2021-01-22 12:51:47 -05:00 |
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matlabbe
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aa31a900fb
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fixed trusty build (#682)
* fixed trusty build (g2o backward compatibility)
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2021-01-20 22:54:48 -05:00 |
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matlabbe
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28e624e6b2
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fixed g2o build with c++14 #681
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2021-01-20 10:45:45 -05:00 |
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matlabbe
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731b073ed8
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Cleanup ObjDeletionHandler not used. Zed: fixed assert "qual >= sl::DEPTH_MODE::NONE && qual < sl::DEPTH_MODE::LAST" with latest sdk.
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2021-01-19 17:24:38 -05:00 |
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matlabbe
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5d777469ff
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CameraRealSense2: refactored for freezing/crash issues on stop
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2021-01-18 14:58:33 -05:00 |
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matlabbe
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70e9dff7da
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L515: downscale depth image if it has been upscaled during registration, fixed depth not correctly scaled in IR mode
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2021-01-18 11:33:10 -05:00 |
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matlabbe
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814a243693
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Add boost link dir on Windows #678
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2021-01-17 15:06:47 -05:00 |
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matlabbe
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c49785061f
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Added PyDetector (#677)
* Added PyDetector. Refactored PyMatcher.
* Fixed python freezing with multi-threading
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2021-01-17 01:56:27 -05:00 |
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matlabbe
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0bc483b6d3
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Added pdal optional dependency (export to LAS, E57, ...)
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2021-01-14 15:49:18 -05:00 |
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matlabbe
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eae5f2b428
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fixed #674
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2021-01-11 11:38:31 -05:00 |
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matlabbe
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94cf1dfd32
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Fixed zero-ed 3D words when receiving odometry's 2D keypoints > Kp/MaxFeatures and empty 3D points
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2021-01-09 20:52:34 -05:00 |
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matlabbe
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1a967127d9
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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).
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2021-01-08 13:04:24 -05:00 |
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matlabbe
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792c967d46
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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).
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2021-01-08 01:10:23 -05:00 |
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matlabbe
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a67dbc26f2
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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).
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2021-01-08 00:01:08 -05:00 |
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matlabbe
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f1993d9cd7
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android: fixed z-fighting on some android devices
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2021-01-02 18:14:55 -05:00 |
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matlabbe
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da99d7e4a0
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disabled osx travis build (too long to do)
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2020-12-20 00:07:34 -05:00 |
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matlabbe
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e896ffb5c0
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Update .travis.yml
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2020-12-19 23:16:28 -05:00 |
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matlabbe
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04cbf56cc0
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Update .travis.yml
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2020-12-19 22:37:13 -05:00 |
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matlabbe
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c5051bf82a
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Update .travis.yml
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2020-12-19 21:38:13 -05:00 |
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matlabbe
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7a9f01b9a3
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Update .travis.yml
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2020-12-19 12:55:12 -05:00 |
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matlabbe
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70094edb75
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Update .travis.yml
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2020-12-19 12:38:36 -05:00 |
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matlabbe
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eb2af19a89
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Update .travis.yml
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2020-12-19 12:28:02 -05:00 |
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matlabbe
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af227bad51
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Update .travis.yml
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2020-12-19 12:21:25 -05:00 |
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matlabbe
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ee63ce338a
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Update .travis.yml
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2020-12-19 12:11:19 -05:00 |
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matlabbe
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1b3a6abb82
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Update .travis.yml
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2020-12-19 11:48:06 -05:00 |
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matlabbe
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4a8a20c7d1
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Update .travis.yml
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2020-12-19 11:24:19 -05:00 |
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matlabbe
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a125797e50
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Update .travis.yml
Added osx
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2020-12-19 11:18:20 -05:00 |
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matlabbe
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a6f0877045
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Parameters: added Rtabmap/ImagesAlreadyRectified to odometry parameters (to be shown with --params)
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2020-12-18 17:57:43 -05:00 |
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matlabbe
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b5cae38eb9
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Fixed -lBoost:timer not defined when building with latest GTSAM binaries
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2020-12-18 17:01:11 -05:00 |
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matlabbe
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d8ebbc2645
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CameraK4A: rectifying color image (this improves a lot visual odometry accuracy)
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2020-12-13 15:27:17 -05:00 |
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matlabbe
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d700d09339
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DataRecorder tool: interface changed to use config file (#661)
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2020-12-13 12:42:58 -05:00 |
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matlabbe
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3104dff006
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Update README.md
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2020-12-13 11:10:22 -05:00 |
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matlabbe
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839045a538
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package.xml: 0.20.7
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2020-12-12 19:05:06 -05:00 |
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matlabbe
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a824945816
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package.xml: removed libvtk-qt as there are conflicts on noetic with libpcl-dev (which is using vtk7)
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2020-12-12 17:32:30 -05:00 |
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matlabbe
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1acf8ff193
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RegIcp: don't assert if normals cannot be computed properly before doing complexity check, just reject the transform
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2020-12-12 16:53:07 -05:00 |
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matlabbe
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51826c9a97
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RegIcp: fixed KDTreeMatcherIntensity build error on Mac.
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2020-12-11 17:22:29 -05:00 |
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matlabbe
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7a5d04062d
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vtk8: disabled vtkOutputWindow
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2020-12-11 17:05:37 -05:00 |
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matlabbe
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049238dd59
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Gui: added L515 icon
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2020-12-11 09:56:17 -05:00 |
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matlabbe
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da8e76ffed
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rtabmap-matcher: added --calibration_to option (to use a different calibration file for the second image).
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2020-12-05 13:21:58 -05:00 |
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matlabbe
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3131474102
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Added Db/TargetVersion parameter (#652)
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2020-12-03 15:45:40 -05:00 |
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matlabbe
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3ffc8ce73f
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DBViewer: enabled Reject button on landmark links
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2020-11-30 23:17:47 -05:00 |
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matlabbe
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ee44adeb1f
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fixed #648 (build error without OctoMap dependency)
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2020-11-30 12:33:08 -05:00 |
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matlabbe
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96c1c81e22
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fixed build with older libpointmatcher versions <10300
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2020-11-29 19:30:30 -05:00 |
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matlabbe
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0022b6b993
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ExportCloudsDialog: added colormap option when showing scans
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2020-11-28 18:02:54 -05:00 |
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matlabbe
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721e046f5d
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fixed build
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2020-11-28 17:36:42 -05:00 |
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matlabbe
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d733029565
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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.
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2020-11-28 17:28:34 -05:00 |
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matlabbe
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7859313beb
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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).
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2020-11-23 11:36:27 -05:00 |
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matlabbe
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80199f23b5
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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.
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2020-11-22 19:32:01 -05:00 |
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matlabbe
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bce7ae6acd
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Fixed GTSAM reference frame yaw drift over time when gravity links are used
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2020-11-22 16:40:30 -05:00 |
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matlabbe
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f88845e138
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fixed #643
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2020-11-22 14:29:05 -05:00 |
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matlabbe
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bdc7be40b4
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Fix for previous commit https://github.com/introlab/rtabmap/commit/e4cb59b74d69887fd67700420d408db5a6850663 (otherwise imu are ignored if globalTimeSync is off)
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2020-11-22 12:38:21 -05:00 |
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matlabbe
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e4cb59b74d
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Added suggestion from https://github.com/introlab/rtabmap/issues/614#issuecomment-731769818
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2020-11-22 12:32:39 -05:00 |
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matlabbe
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dab407e5b9
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fixed https://github.com/introlab/rtabmap/commit/ad44b65a28c0bb16add80a3d0afb9c721f84ba68#commitcomment-44427459
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2020-11-22 11:10:35 -05:00 |
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matlabbe
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98a499b603
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Optimizer: fall back on g2o or gtsam first if one or the other is not available (instead of going TORO). ExportClouds: added ceiling and floor filtering options.
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2020-11-22 01:23:08 -05:00 |
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matlabbe
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f5d7dc2814
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PreferencesDialog: Added Marker/MaxRange and Marker/MinRange parameters to UI.
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2020-11-21 17:23:41 -05:00 |
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matlabbe
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ab1aa5578a
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Fixed build
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2020-11-21 17:12:09 -05:00 |
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matlabbe
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ccbdb586da
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DbViewer: Added datbabase path to window title
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2020-11-21 16:37:40 -05:00 |
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matlabbe
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7c4d2bbdf4
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DbViewer: before resetting all changes, added a confirmation message box!
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2020-11-21 16:15:27 -05:00 |
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matlabbe
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fb206b4f1e
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DbViewer: fixed scan disappearing after editing constraint
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2020-11-21 14:35:29 -05:00 |
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matlabbe
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ddecefbb9c
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💄
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2020-11-21 12:34:17 -05:00 |
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matlabbe
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ad44b65a28
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Allow partial support for AliceVision v2.3.0 (see #564 for remaining issues)
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2020-11-20 13:42:56 -05:00 |
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matlabbe
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fdaaa6ccfa
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Fixed bug L500 gyro/acc not detected (#629)
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2020-11-19 13:49:10 -05:00 |
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matlabbe
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34e1af7e22
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RealSense2: added error message for L515 if resolution is not 640x480 30 fps (#629)
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2020-11-19 10:38:15 -05:00 |
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matlabbe
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54e2688a1d
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Fixed build with pcl > 1.11.1 (#641)
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2020-11-14 16:52:01 -05:00 |
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matlabbe
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f9abcf9e35
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fixed opencv2 build
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2020-11-14 14:41:37 -05:00 |
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matlabbe
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01eb57f293
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CameraImages: added configForEachFrame option (added to GUI too). CameraThread: for decimation, if depth is smaller than RGB, RGB is decimated first and if the resulting RGB image is smaller than the original depth, we then decimate the depth.
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2020-11-14 13:39:12 -05:00 |
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matlabbe
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7be22d1b67
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Added check to make sure input odometry poses are invertible. Source/DB: added stereo to depth option.
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2020-11-06 21:37:59 -05:00 |
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matlabbe
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4b527f9c36
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Update .appveyor.yml
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2020-11-06 18:56:32 -05:00 |
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matlabbe
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4d965c2089
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Update .appveyor.yml
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2020-11-06 18:18:06 -05:00 |
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matlabbe
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47cbd633c3
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Update .appveyor.yml
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2020-11-06 18:11:29 -05:00 |
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matlabbe
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b95537a680
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Added c++11 definition when latest libpointmatcher is found
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2020-11-06 16:37:29 -05:00 |
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matlabbe
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e102243f0e
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Fixed weight=-8 bug when moving rehearsed node to trash
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2020-11-06 14:47:10 -05:00 |
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matlabbe
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e7a2f206a0
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Gui: fixed warning scan not found when uncompressing data. Don't disable Mem/UseOdomFeatures checkbox anymore in monitoring mode (ROS).
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2020-11-05 15:50:05 -05:00 |
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matlabbe
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d04b1a13be
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multiband: add multi-camera support. rtabmap-export: updated options (now supporting creating point cloud from scans).
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2020-11-04 14:02:18 -05:00 |
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matlabbe
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92b1dabf1c
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MainWindow: avoid uncompressing images/scans if they are not shown
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2020-11-03 16:12:43 -05:00 |
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matlabbe
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e269067d4c
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Texturing: add distanceToCamPolicy option
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2020-11-03 16:11:37 -05:00 |
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matlabbe
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596cd10b69
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Fixed -lBoost::timer not found on ubuntu18.04/arm64 (#587)
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2020-11-01 13:08:55 -05:00 |
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matlabbe
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6a730b51c7
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GUI-Preferences: disabled Daisy feature option on OpenCV 2
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2020-11-01 13:01:23 -05:00 |
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matlabbe
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4ecf37a3ab
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fixed build with OpenCV 2.4
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2020-11-01 12:49:21 -05:00 |
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matlabbe
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99275fba1d
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Added Daisy descriptor. ORB: updated default parameters. Making ORBOctree using ORB parameters. Updated Vis/CorNNDR default from 0.6 to 0.8 (increase number of matches with binary descriptors, increase slightly feature matching time with float descriptors). Note that jfr2018 scripts have been updated to use old value 0.6. rtabmap-info: show descriptor dimension and type.
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2020-11-01 11:28:59 -05:00 |
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matlabbe
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25c2a51ee3
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fixed windows build
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2020-10-29 18:03:36 -04:00 |
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matlabbe
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600484e12c
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Update .appveyor.yml
#624
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2020-10-29 11:52:25 -04:00 |
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matlabbe
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8878d9fcdf
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Update .appveyor.yml
#624
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2020-10-29 11:44:31 -04:00 |
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matlabbe
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72e1649cdd
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DataRecorder: added imu filtering by default
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2020-10-22 18:02:24 -04:00 |
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matlabbe
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afbc0edbd6
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Local occupancy grid: fixed empty obstacles with scans having intensity channel when Grid/RangeMax is used.
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2020-10-21 15:38:19 -04:00 |
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matlabbe
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fbc30042c4
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Fixed biggest index/min/max when Grid/MaxGroundHeight is set (http://official-rtab-map-forum.67519.x6.nabble.com/Comparison-between-realsense-D435-vs-T265-vs-T265-D435-dual-setup-td6456i20.html)
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2020-10-18 15:56:13 -04:00 |
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matlabbe
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a4da1e14b4
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SIFT: fixed SIFT not extracted with OpenCV >=4.4 and >=3.4.11 when nonfree is false
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2020-10-17 20:34:24 -04:00 |
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matlabbe
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3047b7da6b
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CameraRealSense2: update for L515 support
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2020-10-17 19:57:27 -04:00 |
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matlabbe
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bbb3c56008
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Fixed android build
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2020-10-16 14:55:50 -04:00 |
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matlabbe
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f71f00277c
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DbViewer::AddConstraint: don't ask ofr manual constraint if already aborted previous question (when Reg/Strategy=1).
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2020-10-12 17:41:06 -04:00 |
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