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1998 Commits

Author SHA1 Message Date
matlabbe
3b7c6cd1f4 DBViewer: added camera projection on scan option (GUI params). Fixed some deprecated warnings. 2021-04-19 18:14:20 -04:00
matlabbe
2fcef88016 Export: added --poses_format option (default 10=RGBD-SLAM format). Added new pose format 11=RGBD-SLAM + ID. 2021-04-13 15:49:04 -04:00
matlabbe
f4207979ad Export: fixed calibration not exported if camera name is not set. For multi-camera, added index suffix to yaml. 2021-04-09 16:20:08 -04:00
matlabbe
a8f0abf892 MainWindow::processOdometry() rectify images if Rtabmap/ImagesAlreadyRectified is false. 2021-04-02 19:06:03 -04:00
matlabbe
4c1e72d82e Added OpenVINS minimal support (tested with EuRoC dataset) 2021-03-28 23:51:02 -04:00
matlabbe
a58ec494d1 icpCC: when force3DoF is true, set z to 0 in data conversion 2021-03-28 09:28:55 -04:00
matlabbe
69735b6271 Added removeNaNFromPointCloud for PCLPointCloud2 type 2021-03-28 00:15:47 -04:00
matlabbe
06e85e140c Refactored RegistrationIcp: libpointmatcher yaml config usage / integrated CCCoreLib (#704) 
* Refactored RegistrationIcp so that libpointmatcher yaml can work with icp odometry (we can then avoid refiltering data with local map of F2M). All data filtering (including libpointmatcher DataFilters) are done at the beginning of the function.

* ICP: Restored ref and data scans order for libpointmatcher (seems more stable this way).

* Fixed compilation error without libpointmatcher

* CCCoreLib integration (Icp/Strategy=2). Icp/PMForce4DoF is now Icp/Force4DoF. Icp/PM is now Icp/Strategy. Icp/PMOutlierRatio is now Icp/OutlierRatio.

* Fixed build without CCCoreLib

* Cleanup RegistrationIcp from third party functions.

* Preferences: disable libpointmatcher and cccorlib options if not available
 2021-03-27 15:11:20 -04:00
matlabbe
21737f9937 Added description fo RGBD/Enabled parameter 2021-03-17 23:58:12 -04:00
matlabbe
752509fb15 Rtabmap::detectMoreLoopClosures: added clusterRadiusMin parameter and update optimized poses after each accepted loop closure (also in MainWindow) like in DbViewer. Added graph::computeMinMax(poses). OdometryInfo: added guess transform. Export: added min/max axis ranges to filter nodes before expoting clouds. 2021-03-13 18:42:13 -05:00
matlabbe
f6e17be2b4 Added ViewPlane XY, XZ and YZ options to GraphViewer 
Parameter RGBD/SavedLocalizationIgnored now called RGBD/StartAtOrigin (updated description, used only in localization mode)
IcpReg: if Force4DoF, set lower covariance values for roll and pitch
DbViewer: updated detectMoreLoopClosures with new minRadius option and update optimized poses between each new accepted loop closures.
MainWindow: suppressed warning if depth image is not found in current node data (when rgb is).
3D Map view: changed default map point size to 1 (was 2)
 2021-03-12 17:47:36 -05:00
matlabbe
db43479e44 Added ORB_SLAM3 support. IMU Filter: added base frame conversion option. (#698) 
Referred issues:
#655
https://github.com/introlab/rtabmap_ros/issues/492

Note: IMU not supported yet with ORB_SLAM3.

Commits:
* Added orbslam3 support. UI-Source->IMU filtering: Added base frame conversion option of IMU data to uniformize yaw initialization. Madgwick: fixed yaw initialization accordingly to Z acc.

* fixed regression build error with ORB_SLAM2

* Renamed OdometryORBSLAM2 to OdometryORBSLAM (can be 2 or 3 now)
 2021-03-09 16:00:41 -05:00
matlabbe
351c659beb Integrated DepthAI (gen2) (#696) 
* Added OAK-D camera support (DepthAI)

* Fixed build without DepthAI dependency

* Added minimum version 2 for depthai

* fixed trusty build
 2021-03-07 12:27:21 -05:00
matlabbe
ab8f0e2b34 Fixed #695 (footprint not cleared correctly when GridGlobal/OccupancyThr>0) 2021-03-05 18:35:49 -05:00
matlabbe
4f46d8e904 Updated some RGBD/Proximity**** parameter descriptions. Added parameter RGBD/LoopClosureIdentityGuess. Fixed local map cleared in localization when RGBD/SavedLocalizationIgnored is true (should then assume it is starting from origin). 2021-03-04 11:26:35 -05:00
matlabbe
98c69c4578 Fixed Force4DoF param not used exception on older libpointmatcher versions 2021-03-02 17:27:25 -05:00
matlabbe
4e4207a6dd CMake: updated to support latest g2oConfig.cmake (using targets) 2021-03-02 18:17:09 +00:00
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
f7bc47572b Parameters: Icp/VoxelSize default updated from 0 to 0.05 2021-03-01 11:22:40 -05:00
matlabbe
d119487dd7 Coloring scan (camera projection on point cloud) (#693) 
* ExportClouds: Added camera projection options

* ExportClouds: fixed ceiling/floor filtering options not saved in config

* ExportClouds: fixed colorless scan points still exported when option is unchecked.

* Export tool: added --bin, --poses, --images, --las and --cam_projection options; export with intensity with --scan option. PDALWriter: added binary option (only used for PLY an PCD formats). Rtabmap: Do graph optimization if neighbor link refined and Mem/UseOdomGravity is used.
 2021-03-01 09:56:37 -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
cad184e82b Added Icp/PMForce4DoF parameter (works only with libpointmatcher > April 2020). Fixed some deprecated warnings. 2021-02-24 09:43:22 -05:00
matlabbe
8696a38343 Added parameter GridGlobal/AltitudeDelta 2021-02-21 13:00:16 -05:00
matlabbe
bb7e9edb9b Fixed create2DMap assert on 32FC2 when subscribing 2D scans with intensity. LaserScan: fixed assert when angle_min > angle_max (with angle_increment < 0) 2021-02-16 10:47:31 -05:00
matlabbe
f871e4359d Fixed optimized map cleared when optimized graph is smaller than WM (poses should still refer to nodes in WM). Removed warning about max scan points smaller than actual scan (this can happen when assembling scans for proximity detection). Lowering default Icp/PMOutlierRatio to 0.85. 2021-02-12 18:40:40 -05:00
matlabbe
089441a496 Fixed loadScan return 2D cloud for organized PCD 2021-02-10 21:35:09 -05:00
matlabbe
481a140f84 util3d: Refactored laserScanFromPointCloud() functions to return LaserScan with correct format instead of cv::Mat. 2021-02-07 17:27:55 -05:00
matlabbe
c42a4e3d7e Fixed assert when loading database having optimized poses different from the working memory (force re-update graph in this case). 2021-02-06 15:10:18 -05:00
matlabbe
c1a22609f3 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. 2021-02-02 09:36:12 -05:00
matlabbe
b759b1b4d1 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. 2021-02-01 11:31:45 -05:00
matlabbe
6b119c1f90 Camera test view: show intensity/rgb/normals if input scans have them 2021-01-25 17:16:46 -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
e99c658276 fixed scan-only nodes wrongly set as intermediate nodes by default 2021-01-24 11:35:48 -05:00
matlabbe
57326214f1 Fixed texture projection when fx!=fy, cx!=w/2 or cy!=h/2 2021-01-24 10:39:36 -05:00
matlabbe
47e40ef34d MainWindow: add fake frustum when only lidar is received 2021-01-22 12:51:47 -05:00
matlabbe
aa31a900fb fixed trusty build (#682) 
* fixed trusty build (g2o backward compatibility)
 2021-01-20 22:54:48 -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
c49785061f Added PyDetector (#677) 
* Added PyDetector. Refactored PyMatcher.

* Fixed python freezing with multi-threading
 2021-01-17 01:56:27 -05:00
matlabbe
0bc483b6d3 Added pdal optional dependency (export to LAS, E57, ...) 2021-01-14 15:49:18 -05:00
matlabbe
eae5f2b428 fixed #674 2021-01-11 11:38:31 -05:00
matlabbe
94cf1dfd32 Fixed zero-ed 3D words when receiving odometry's 2D keypoints > Kp/MaxFeatures and empty 3D points 2021-01-09 20:52:34 -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
a6f0877045 Parameters: added Rtabmap/ImagesAlreadyRectified to odometry parameters (to be shown with --params) 2020-12-18 17:57:43 -05:00
matlabbe
d8ebbc2645 CameraK4A: rectifying color image (this improves a lot visual odometry accuracy) 2020-12-13 15:27:17 -05:00
matlabbe
1acf8ff193 RegIcp: don't assert if normals cannot be computed properly before doing complexity check, just reject the transform 2020-12-12 16:53:07 -05:00
matlabbe
51826c9a97 RegIcp: fixed KDTreeMatcherIntensity build error on Mac. 2020-12-11 17:22:29 -05:00