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 )
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* 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
matlabbe
049238dd59
Gui: added L515 icon
2020-12-11 09:56:17 -05:00
42Max42
3271723034
superpoint, fixing slow convert after cnn ( #659 )
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* fixing slow convert after cnn
* restoring cmake
2020-12-11 09:27:18 -05:00
matlabbe
3131474102
Added Db/TargetVersion parameter ( #652 )
2020-12-03 15:45:40 -05:00
matlabbe
ee44adeb1f
fixed #648 (build error without OctoMap dependency)
2020-11-30 12:33:08 -05:00
matlabbe
96c1c81e22
fixed build with older libpointmatcher versions <10300
2020-11-29 19:30:30 -05:00
matlabbe
721e046f5d
fixed build
2020-11-28 17:36:42 -05:00
matlabbe
d733029565
Increased version to 0.20.7. OdometryF2M: added support for intensity field, removed ignored key frames when there is low scan complexity. RegistrationIcp: added Icp/PMMatcherIntensity, Icp/PointToPlaneGroundNormalsUp and Icp/PointToPlaneLowComplexityStrategy parameters. Rtabmap: when graph optimized from end, increased optimization error before warning that resulting map correction is not identity (this could happen with GTSAM as the root is not perfectly fixed). CloudViewer: added coordinate frame scaling option, added rainbow colormap option for scan intensity. DBViewer: fixed local proximity merged scans not shown modified after refining those links, show intensity, fixed constraints view not updated after rejecting a link. MainWindow: added intesity support with odometry scans.
2020-11-28 17:28:34 -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
80199f23b5
RegIcp: complexity, checking if second eigen value is also under Icp/PointToPlaneMinComplexity to limit to only one axis. DbViewer: fixed refine link with scans having RGB channel.
2020-11-22 19:32:01 -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
f88845e138
fixed #643
2020-11-22 14:29:05 -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
dab407e5b9
fixed ad44b65a28 (commitcomment-44427459)
2020-11-22 11:10:35 -05:00
matlabbe
98a499b603
Optimizer: fall back on g2o or gtsam first if one or the other is not available (instead of going TORO). ExportClouds: added ceiling and floor filtering options.
2020-11-22 01:23:08 -05:00
matlabbe
ab1aa5578a
Fixed build
2020-11-21 17:12:09 -05:00
David Molina
f467f2af7f
Added Marker/MaxRange and Marker/MinRange parameters ( #630 )
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* ADD 3 meter limit for marker detections
* ADD Marker/MaxRange and Marker/MinRange parameters for controlling marker detection
ADD ctags ignore
Co-authored-by: John Paul Soliva <soliva@seaos.co.jp >
Co-authored-by: Tim Fronsee <tfronsee21@gmail.com >
2020-11-21 16:18:22 -05:00
matlabbe
ddecefbb9c
💄
2020-11-21 12:34:17 -05:00
matlabbe
ad44b65a28
Allow partial support for AliceVision v2.3.0 (see #564 for remaining issues)
2020-11-20 13:42:56 -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
54e2688a1d
Fixed build with pcl > 1.11.1 ( #641 )
2020-11-14 16:52:01 -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
7be22d1b67
Added check to make sure input odometry poses are invertible. Source/DB: added stereo to depth option.
2020-11-06 21:37:59 -05:00
matlabbe
e102243f0e
Fixed weight=-8 bug when moving rehearsed node to trash
2020-11-06 14:47:10 -05:00
matlabbe
e7a2f206a0
Gui: fixed warning scan not found when uncompressing data. Don't disable Mem/UseOdomFeatures checkbox anymore in monitoring mode (ROS).
2020-11-05 15:50:05 -05:00
matlabbe
d04b1a13be
multiband: add multi-camera support. rtabmap-export: updated options (now supporting creating point cloud from scans).
2020-11-04 14:02:18 -05:00
matlabbe
e269067d4c
Texturing: add distanceToCamPolicy option
2020-11-03 16:11:37 -05:00
matlabbe
4ecf37a3ab
fixed build with OpenCV 2.4
2020-11-01 12:49:21 -05:00
matlabbe
99275fba1d
Added Daisy descriptor. ORB: updated default parameters. Making ORBOctree using ORB parameters. Updated Vis/CorNNDR default from 0.6 to 0.8 (increase number of matches with binary descriptors, increase slightly feature matching time with float descriptors). Note that jfr2018 scripts have been updated to use old value 0.6. rtabmap-info: show descriptor dimension and type.
2020-11-01 11:28:59 -05:00
matlabbe
afbc0edbd6
Local occupancy grid: fixed empty obstacles with scans having intensity channel when Grid/RangeMax is used.
2020-10-21 15:38:19 -04:00
