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1691 Commits

Author SHA1 Message Date
matlabbe
23d8353540 Rtabmap::detectMoreLoopClosures, use optimized graph as guess if RGBD/ProximityOdomGuess is true. Reprocess: added options to generate scan from depth image and/or pre-process input scans. 2020-08-28 16:24:07 -04:00
matlabbe
24052a6ebe fixed pcl::getAngle3D not found error on latest pcl version (6df3e602a7 (diff-8e08415b9972a447d115dbca3f8fa0a1)) 2020-08-25 10:56:30 -04:00
matlabbe
775c9318d3 Fixed Too large rotation detected message 2020-08-21 15:57:28 -04:00
matlabbe
f263d560b4 OdomF2M: fixed complexity null for first scan is not having normals already 2020-08-21 14:32:08 -04:00
matlabbe
729f96f467 TORO: added warnings when prior or landmark links are detected 2020-08-21 11:26:22 -04:00
matlabbe
39f68c44c6 Recovery: set back database in mapping mode after being saved in localization mode 2020-08-03 13:46:42 -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
07d21e6b03 VINS update log: printf to UDEBUG 2020-07-30 12:34:58 -04:00
matlabbe
6741355842 Ignore invalid GPS values (NaN #570) 2020-07-29 10:39:34 -04:00
matlabbe
169b79215d Memory::computeIcpTransformMulti() added support for 3d scans with RGB channel (L515) 2020-07-08 13:43:28 -04:00
matlabbe
4a09c4bdcf Odometry: fixed Reg/Force3DoF ignored if filters are not used 2020-07-08 10:03:54 -04:00
matlabbe
e800662bac Fixed build with OpenCV >= 3.4.11 2020-07-02 16:29:23 -04:00
matlabbe
33e9abdfad Mac: fixed crash when discarding a signature (not moving enough) with self refenced links. Fixed link error with realsense2 library on Mac. 2020-07-02 12:54:43 -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
0809946c66 Windows: Fixed stereoRectifyFisheye.h 'cannot convert from cv::Mat to CvMat' compilation error with opencv >=3.4.4. Fixed k4a/k4atypes.h not found on guilib compilation. 2020-06-30 23:18:31 -04:00
matlabbe
542f06ec24 ARCore: features from arcore are used directly for keypoints 2020-06-29 15:08:24 -04:00
matlabbe
dacf724ea6 Rtabmap::addLink() support multi-session 2020-06-25 13:56:01 -04:00
matlabbe
274903dd63 Rtabmap::getSignatureCopy() added withWords and withGlobalDescriptors options 2020-06-22 22:56:25 -04:00
matlabbe
c19f81ac12 Memory::getNodeData() removing not wanted data if the node with all its data has been found in working memory. 2020-06-22 22:29:26 -04:00
matlabbe
846bd59d0b Rtabmap::addLink() removed an error log that is actually a debug log. 2020-06-22 21:53:22 -04:00
matlabbe
6e1f07e097 CameraK4A: fixed IMU local transform, fixed some compilation warnings. 2020-06-22 19:42:55 -04:00
matlabbe
c5ec4f337b util3d::segmentObstaclesFromGround() fixed no ground returned if maximum ground height is set and the biggest plane was not under that height (e.g., ceiling having more points than ground) 2020-06-18 21:30:43 -04:00
matlabbe
554b08256b Statistics: Added Odometry_correction_acc_* 2020-06-18 14:47:00 -04:00
matlabbe
4769fc235f Refactoring: set default local transform for camera drivers to opticalRotation. Added CameraModel::opticalRtotation() static function for convenience. Added CameraModel::load() from file directly for convenience. Added Camera::initFromFile() for convenience. Transform: Added opengl_T_rtabmap() and opengl_T_rtabmap() functions for convenience (convert back and forth between rtabmap world and opengl world coordinate frames) 2020-06-08 11:40:47 -04:00
matlabbe
ff5695878c Rtabmap::init() added loadDatabaseParameters argument for convenience (default false to be backward compatible) 2020-06-08 10:35:12 -04:00
matlabbe
6029b6283d Rtabmap: Refactored how fake odom is generated in localization mode when no odom is provided. Trigger new map in localization mode also clears last localization pose if RGBD/SavedLocalizationIgnored is true. 2020-06-08 10:14:21 -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
c7be9a23ee OdometryF2M: refactored imu buffer 2020-05-31 14:33:20 -04:00
matlabbe
caffb56246 DBViewer: fixed StereoSGBM panel not shown. Odometry: fixed Odom/GuessSmoothingDelay type 2020-05-31 13:26:54 -04:00
matlabbe
d5cfd8013d CameraMyntEye: added setIrControl() 2020-05-31 12:17:14 -04:00
matlabbe
415a2778f1 Added Features2d::limitKeypoints() with grid options. Odometry: if imu is provided and no guess is provided, the change of orientation of imu is used for rotation guess (overwrite rotation from Odom/GuessFromMotion). OdometryInfo: added gravity errors when imu is used. Preferences: added a second GravitySigma parameter (overwritting Optimizer/GravitySigma for odometry is not negative) for F2M odometry panel. 2020-05-31 11:22:12 -04:00
matlabbe
6e55525a7b Memory::getNeighborsId() fixed no link returned when looking in database 2020-05-30 09:20:32 -04:00
matlabbe
2509b6ee09 Statistics: added MapToOdom and MapToBase stats 2020-05-28 21:04:01 -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
6e0081e248 MainWindow: made mynteye action checkable. 2020-05-28 14:04:10 -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
matlabbe
ae5ce029d6 Fixed SIFT build issue between OpenCV 4.3.0 and OpenCV 4.3.0-dev 2020-05-27 10:35:18 -04:00
matlabbe
798466bb05 Increased ros package version to 0.20.0. Parameters: fixed default feature detector when xfeatures2d is not found 2020-05-26 22:44:44 -04:00
matlabbe
0902ccc340 Updated error message when SBA is done on multicam setup. 2020-05-26 11:04:23 -04:00
matlabbe
208f1e5b7c OdomF2M: fixed complexity check on 2d scans (https://github.com/introlab/rtabmap_ros/issues/412) 2020-05-25 20:07:58 -04:00
matlabbe
b40d9610ed Preferences: Fixed xfeatures2d features not available without nonfree on OpenCV >= 3.4.2 (https://github.com/introlab/rtabmap_ros/issues/422) 2020-05-25 17:31:13 -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
matlabbe
6acfc62196 CloudViewer: adjust frustum fov based on camera model (https://github.com/introlab/rtabmap_ros/issues/419) 2020-05-24 11:13:13 -04:00
matlabbe
eb9999d7b1 Rtabmap::addLink() supporting localization mode. MainWindow: fixed flickering camera frustum. 2020-05-21 21:26:29 -04:00
matlabbe
69a2aacc8e Parameters: added SIFT/RootSIFT parameter. 2020-05-21 17:09:20 -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