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82 Commits

Author SHA1 Message Date
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
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
7e298e1999 CameraImages: timestamp file is optional for pose format containing stamp 2021-01-25 13:21:39 -05:00
matlabbe
4d75361fe0 CameraImages: support scan only dataset. 2021-01-24 13:21:30 -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
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
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
d8ebbc2645 CameraK4A: rectifying color image (this improves a lot visual odometry accuracy) 2020-12-13 15:27:17 -05:00
matlabbe
049238dd59 Gui: added L515 icon 2020-12-11 09:56:17 -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
bce7ae6acd Fixed GTSAM reference frame yaw drift over time when gravity links are used 2020-11-22 16:40:30 -05:00
matlabbe
bdc7be40b4 Fix for previous commit e4cb59b74d (otherwise imu are ignored if globalTimeSync is off) 2020-11-22 12:38:21 -05:00
matlabbe
e4cb59b74d Added suggestion from https://github.com/introlab/rtabmap/issues/614#issuecomment-731769818 2020-11-22 12:32:39 -05:00
matlabbe
fdaaa6ccfa Fixed bug L500 gyro/acc not detected (#629) 2020-11-19 13:49:10 -05:00
matlabbe
34e1af7e22 RealSense2: added error message for L515 if resolution is not 640x480 30 fps (#629) 2020-11-19 10:38:15 -05:00
matlabbe
f9abcf9e35 fixed opencv2 build 2020-11-14 14:41:37 -05:00
matlabbe
01eb57f293 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. 2020-11-14 13:39:12 -05:00
matlabbe
3047b7da6b CameraRealSense2: update for L515 support 2020-10-17 19:57:27 -04:00
matlabbe
3aae79270f Output an error if a timestamp file is missing instead of asserting #613 2020-10-12 14:30:57 -04:00
matlabbe
e0973fea92 CameraK4A: added imu support with playback. Fixed windows build error. 2020-09-04 14:10:32 -04:00
matlabbe
49cb470b8d CameraK4A: refactored to unify playback and real device code. Fixed ir option (with rectification). 2020-09-04 12:48:18 -04:00
matlabbe
0a9d237ac2 0.20.3: CameraRealSense2: Fixed D435i accel/gyro profile selection to avoid crash. Fixed Integrated D415 fix (#469) 2020-08-01 20:29:47 -04:00
matlabbe
cd10cafd0e Windows: fixed CameraRealSense2 driver freezing on close. 2020-07-01 20:58:04 -04:00
matlabbe
736cf0efc7 Windows: fixed stamp now() issue 2020-07-01 16:53:57 -04:00
matlabbe
661a05b0da CameraMyntEye: fixed M_PI not defined error 2020-06-30 23:36:12 -04:00
matlabbe
6e1f07e097 CameraK4A: fixed IMU local transform, fixed some compilation warnings. 2020-06-22 19:42:55 -04:00
Thomas Kircher
de5610bd08 Added preferences for Azure Kinect camera (#559) 
* Added Kinect for Azure menu option

* Reintegrated Kinect for Azure initialization code, fixed previous GUI commit

* Added ifdefs to fix build

* Added preliminary K4A device support

* Edits to K4A camera implementation

* K4A minor initialization fix

* Typo

* Another initialization fix

* Update CameraRGBD tool to display K4A camera output

* K4A added model parameter so we can create maps

* Added combo boxes for K4A options

* Functionalized combo boxes for K4A options

* Finished adding K4A preferences
 2020-06-04 11:34:37 -04:00
matlabbe
d5cfd8013d CameraMyntEye: added setIrControl() 2020-05-31 12:17:14 -04:00
matlabbe
45ddce938a CameraMyntEye/GUI: added manual/auto exposure option (default auto). Rtabmap: refactored warning when RGBD/OptimizeFromGraphEnd changes state. 2020-05-28 19:50:02 -04:00
matlabbe
bf39c5295b Ported PCL 1.11 deprecated changes to PCL 1.10 (#550) 2020-05-27 17:45:16 -04:00
matlabbe
511be5f663 Fixed build with pcl 1.11 (#550). Fixed pcl 1.11 warnings (boost->std). 2020-05-27 16:35:33 -04:00
Thomas Kircher
35385e299d K4A mapping working now (#554) 
* Added Kinect for Azure menu option

* Reintegrated Kinect for Azure initialization code, fixed previous GUI commit

* Added ifdefs to fix build

* Added preliminary K4A device support

* Edits to K4A camera implementation

* K4A minor initialization fix

* Typo

* Another initialization fix

* Update CameraRGBD tool to display K4A camera output

* K4A added model parameter so we can create maps
 2020-05-25 11:46:16 -04:00
Thomas Kircher
013bd0c72a K4A device, fixed some stale edits (#553) 
* Added Kinect for Azure menu option

* Reintegrated Kinect for Azure initialization code, fixed previous GUI commit

* Added ifdefs to fix build

* Added preliminary K4A device support

* Edits to K4A camera implementation

* K4A minor initialization fix

* Typo

* Another initialization fix

* Update CameraRGBD tool to display K4A camera output
 2020-05-20 19:36:15 -04:00
Thomas Kircher
89ece8cd4e Preliminary K4A device support (#552) 
* Added Kinect for Azure menu option

* Reintegrated Kinect for Azure initialization code, fixed previous GUI commit

* Added ifdefs to fix build

* Added preliminary K4A device support
 2020-05-20 15:31:30 -04:00
matlabbe
609d45ac9b 💄 2020-05-19 15:33:32 -04:00
Thomas Kircher
b542d6a0db Added Kinect for Azure menu option (#551) 
* Added Kinect for Azure menu option

* Reintegrated Kinect for Azure initialization code, fixed previous GUI commit

* Added ifdefs to fix build
 2020-05-19 15:03:36 -04:00
matlabbe
fbdc3780c7 Freenect: fixed imu local transform. Preferences: show imu filters with freenect driver. 2020-05-09 23:13:39 -04:00
matlabbe
14ec619b1e Added MYNT EYE S support. Fixed StereoCameraModel rectification not done with non-square images, also updated to support fisheye model. 2020-04-30 00:57:47 -04:00
matlabbe
e83838f744 CameraRealSense2: fixed ifstream imcomplete type error 2020-04-05 12:30:46 -04:00
matlabbe
b95195d8bb CameraRealSense2: added json preset file option (#513) 2020-04-01 12:25:28 -04:00
matlabbe
e2e2227895 ZED: Fixed compilation error with ZED SDK3 (#499). Added textureness confidence thr parameter (default 90, working only with ZED SDK3) 2020-02-03 17:59:07 -05:00
Walter Lucetti
8810c9e694 Compilation fixes (#501) 
Great! Thx a lot!
It should fix issue #499 as well.
 2020-01-31 14:17:10 -05:00
matlabbe
ccc5a5be5a OctoMap::createCloud() added cloud probability output option. 
CameraRealSense2: added new warnings to debug easier timestamps problems.
GUI: added gravity visualization.
DbViewer: empty clouds in OctoMap mode have color depending on probability of occupancy.
Brought general changes from local xvision branch.
 2020-01-22 10:34:21 -05:00
matlabbe
260192bcc4 CameraRealSense2: Updated how D435i timestamp issue is handled (see also https://github.com/IntelRealSense/librealsense/issues/4505) 2019-10-25 18:21:40 -04:00
matlabbe
79ad8dc4be Fixed #453 2019-10-23 12:43:36 -04:00
matlabbe
dd8e21e05d Features2D: set GFTT/ORB by default if GFTT/BRIEF is not available. RealSense2: fixed T265 local pose frame (when using realsense vio) 2019-10-13 19:04:11 -04:00
matlabbe
981ac69c2c Zed-mini: added imu thread to publish async imu events at 200 Hz (to support VINS odometry). 2019-10-13 17:40:09 -04:00
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