i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-06 18:17:47 +08:00
Code Issues Packages Projects Releases Wiki Activity
3,695 Commits 30 Branches 168 Tags
9ed83a71db77aec3629757b1dd75f1c8cd3f7907
Commit Graph
170 Commits
Author SHA1 Message Date
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 https://github.com/introlab/rtabmap/commit/e4cb59b74d69887fd67700420d408db5a6850663 (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
matlabbe 9cb1e4bbc5 CameraRealSense2: Added Dual Mode (T265+D400) 2019-10-03 21:06:33 -04:00
matlabbe 3ab5ec218b Fixed #409 2019-10-01 20:53:48 -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 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 5b6eddabde Added support D435i IMU in IR mode 2019-09-12 17:21:35 -04:00
matlabbe 380fffb1d9 fixed #435 2019-08-27 15:30:13 -04:00
matlabbe 89f1e809e6 CameraK4A: use mkv framerate if camera rate is -1. Preferences/Source: fixed imu filter parameters not reset on restore defaults 2019-07-11 18:13:20 -04:00
matlabbe 0973f48b2c CameraK4A: added finding lib on linux 2019-07-10 12:34:13 -04:00
matlabbe 3c7719f6d8 Added CameraK4A driver (only MKV playback supported yet). Fixed build with realsense2 support on Windows. Preferences: added imu filtering parameters to ini file. 2019-07-09 20:48:09 -04:00
matlabbe 78d0d60b9f Added RealSense SR300 camera support (#421) 2019-07-05 11:19:45 -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