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2,839 Commits 29 Branches 163 Tags
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1660 Commits

Author SHA1 Message Date
matlabbe
94360e19e0 DBReader: changed maxFrames option to stopId and startIndex to startId. Reprocess: added options to start and stop at specific ids in the database. 2020-04-22 16:20:29 -04:00
matlabbe
012439aa0b Tango refactoring (#534) 
* Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving).

* Working android app on non-tango android phones (tested on x86_64 android emulator).

* fixed typo

* android: updated tango not available msg

* android: fixed build with latest android sdk/ndk

* Added ARCore limited support for pose and rgb streams.

* Added AREngine support. Don't assert if depth size is not a modulo of rgb size.

* Added ARCore shared camera support

* android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue)

* ARCore NDK: mapping with feature point cloud

* android: Added post build strip command to reduce native library size

* android: fixed some compilation issues

* android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters

* AREngine: min api 24

* android: Fixed build without AREngine

* android: fixed not available libraries for API<24

* android: fixed build with old cmake versions

* android: set arcore min api to 23

* android: fixed arengine error on start when not built with native arengine support

* android: fixed tango camera permission for api>=23

* Added bionic android docker files

* Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size

* CameraMobile: added exact display rotation for local transform

* DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label

* Android: fixed localization mode in visualization, fixed some tansitions between some UI states

* Android: Hide stop button when HUD is hidden. Updated About years.
 2020-04-22 15:05:07 -04:00
matlabbe
7cfc51315d CMake: find octomap instead of OCTOMAP #529 2020-04-18 16:03:09 -04:00
matlabbe
6074e84653 Fixed compilation issues with libtorch 1.4.0 2020-04-17 08:32:44 -04:00
matlabbe
f575652456 0.19.7: added SuperPoint Torch feature support. RegVis: keep Feature2D detectors as class members instead of recreating them at each registration. 2020-04-16 17:59:45 -04:00
matlabbe
de354b901d RegInfo: added icpStructuralDistribution info 2020-04-14 17:06:53 -04:00
matlabbe
607dc67135 IMU: removing yaw from local imu transform when creating gravity links 2020-04-10 19:24:45 -04:00
matlabbe
43df2a05da OdomF2M: fixed roll/pitch ignored in imu local transform 2020-04-09 19:22:57 -04:00
matlabbe
18ff5bb410 OdomF2M/Icp: fixed substracting points when normals are not used 2020-04-09 09:59:22 -04:00
matlabbe
c0313a6d09 GUI/Source: color only option now also available for stereo cameras (meaning only left frame published). Db: fixed non-valid 3d words saved when no ones were in the signature (on loading, we don't set words3 if they are all null). 2020-04-08 20:00:41 -04:00
matlabbe
7e8e80db2c Fixed map_id not starting at 0 when empty 2020-04-08 17:02:44 -04:00
matlabbe
cdff33b1c2 Added Mem/LocalizationDataSaved parameter 2020-04-05 19:21:20 -04:00
matlabbe
e83838f744 CameraRealSense2: fixed ifstream imcomplete type error 2020-04-05 12:30:46 -04:00
matlabbe
034adb9f1f fixed #503 2020-04-02 15:07:32 -04:00
matlabbe
fd1fa0320a fixed build with latest libpointmatcher 2020-04-01 15:52:46 -04:00
matlabbe
b95195d8bb CameraRealSense2: added json preset file option (#513) 2020-04-01 12:25:28 -04:00
matlabbe
0eb978cb0b RegInfo: fixed copy without data. 2020-03-28 18:48:51 -04:00
matlabbe
451211cfb1 OdomInfo: added icpCorrespondences. Stats: using norm instead of x for distance/speed. Added odometry speed statistic in mph 2020-03-28 17:07:22 -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
5122d9ac02 Memory: fixed fisheye distortion index error when rectifying only features 2020-03-24 11:46:16 -04:00
matlabbe
9993c4f2f7 Parameters.h: fixed warning C4305 2020-03-12 00:57:11 -04:00
matlabbe
5371f94c8f VS2019: fixed build 2020-03-11 23:34:55 -04:00
matlabbe
39724e239c rtabmap: fixed graph not re-optimized (if empty) after first localization on landmark 2020-03-10 13:08:47 -04:00
matlabbe
6133399b2e util3d: added intersectRayMesh() and intersectRayTriangle() functions 2020-03-03 14:32:12 -05:00
matlabbe
c2dde973a6 Odometry: rectify stereo images for convenience if Rtabmap/ImagesAlreadyRectified is false and odometry strategy cannot process raw images 2020-03-02 16:57:14 -05:00
matlabbe
3ea64fbfc3 Rtabmap: do localization if a landmark already in graph is detected 2020-03-01 18:41:49 -05:00
matlabbe
5daf4e5b2b Rtabmap: avoid optimizing for only gravity if odometry is already aligned with gravity 2020-02-26 13:40:03 -05:00
matlabbe
352507cb1c Update downsampling filtering approach for ring-like lidars like the ouster 2020-02-21 15:01:31 -05:00
matlabbe
bd979cca34 Fixed rejected 180deg loop closure with multi-camera setup 2020-02-19 14:35:37 -05:00
matlabbe
5fef44ec2b DBViewer: Added option to crop empty space from local grid and scans after 2d occupancy grid is manually edited 2020-02-13 17:32:39 -05:00
matlabbe
79b480da4b Rtabmap: added addLink() function 2020-02-11 23:33:18 -05:00
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
f7540196d4 Fixed many compilation warnings (c++14, like pedantic warnings) 2020-01-30 17:23:02 -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
356094fac4 Intermediate nodes are now filtered if RGBD/LinearUpdate is set. 2019-12-20 17:07:31 -05:00
matlabbe
7d1a97696b OctoMap: fixed frontier with higher tree depth 2019-12-20 15:56:52 -05:00
Louis Petit
af2b221958 OctoMap added frontier cloud output 2019-12-17 17:31:37 -05:00
matlabbe
af9e113112 Gui: added missing OdomF2M/ScanRange parameter 2019-12-11 17:17:29 -05:00
matlabbe
62a2af193c fixed a compilation warning 2019-12-11 15:58:05 -05:00
PrescilliaA
4479a6f7e8 Odometry local map can be limited by range (#482) 
* 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
179f17d267 0.19.6: Added auto brightness/contrast and texture format options to multiband approach. rtabmap-export moved from examples to tools directory. 2019-11-03 14:10:02 -05:00
matlabbe
5d789f75a9 Merge branch 'alicevision' 2019-10-28 21:17:16 -04:00
matlabbe
2afa76c07c AliceVision integration, see util3d::multiBandTexturing() 2019-10-28 21:16:02 -04:00
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
matlabbe
9cb1e4bbc5 CameraRealSense2: Added Dual Mode (T265+D400) 2019-10-03 21:06:33 -04:00