matlabbe
800d087b07
Added archive directory to put paper related scripts
2021-03-09 17:08:42 -05:00
matlabbe
db43479e44
Added ORB_SLAM3 support. IMU Filter: added base frame conversion option. ( #698 )
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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 )
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* 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
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
d119487dd7
Coloring scan (camera projection on point cloud) ( #693 )
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* 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).
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* 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
d61e463595
Updated About dialog with opencv license
2021-02-21 13:59:36 -05:00
matlabbe
5cdb346a35
Updated opencv license to Apache2 when version >= 4.5
2021-02-21 13:03:19 -05:00
matlabbe
8696a38343
Added parameter GridGlobal/AltitudeDelta
2021-02-21 13:00:16 -05:00
matlabbe
9bf12742b1
fixed #688
2021-02-18 21:04:00 -05:00
matlabbe
03cfaf2063
DBViewer: Added option to export odometry poses
2021-02-12 11:22:02 -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
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
c9472962d7
bumpt 0.20.9 version
2021-01-24 13:48:05 -05:00
matlabbe
47e40ef34d
MainWindow: add fake frustum when only lidar is received
2021-01-22 12:51:47 -05:00
matlabbe
731b073ed8
Cleanup ObjDeletionHandler not used. Zed: fixed assert "qual >= sl::DEPTH_MODE::NONE && qual < sl::DEPTH_MODE::LAST" with latest sdk.
2021-01-19 17:24:38 -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
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
792c967d46
MainWindow: added driver options to differentiate between cameras having IMU or not (D400 vs D435i, ZED vs Zedm and Zed2). Enabled imu filtering by default for Freenect driver (Kinect XBOX360).
2021-01-08 01:10:23 -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
d8ebbc2645
CameraK4A: rectifying color image (this improves a lot visual odometry accuracy)
2020-12-13 15:27:17 -05:00
matlabbe
d700d09339
DataRecorder tool: interface changed to use config file ( #661 )
2020-12-13 12:42:58 -05:00
matlabbe
7a5d04062d
vtk8: disabled vtkOutputWindow
2020-12-11 17:05:37 -05:00
matlabbe
049238dd59
Gui: added L515 icon
2020-12-11 09:56:17 -05:00
matlabbe
3131474102
Added Db/TargetVersion parameter ( #652 )
2020-12-03 15:45:40 -05:00
matlabbe
3ffc8ce73f
DBViewer: enabled Reject button on landmark links
2020-11-30 23:17:47 -05:00
matlabbe
ee44adeb1f
fixed #648 (build error without OctoMap dependency)
2020-11-30 12:33:08 -05:00
matlabbe
0022b6b993
ExportCloudsDialog: added colormap option when showing scans
2020-11-28 18:02:54 -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
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
e4cb59b74d
Added suggestion from https://github.com/introlab/rtabmap/issues/614#issuecomment-731769818
2020-11-22 12:32:39 -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
f5d7dc2814
PreferencesDialog: Added Marker/MaxRange and Marker/MinRange parameters to UI.
2020-11-21 17:23:41 -05:00
matlabbe
ccbdb586da
DbViewer: Added datbabase path to window title
2020-11-21 16:37:40 -05:00
matlabbe
7c4d2bbdf4
DbViewer: before resetting all changes, added a confirmation message box!
2020-11-21 16:15:27 -05:00
matlabbe
fb206b4f1e
DbViewer: fixed scan disappearing after editing constraint
2020-11-21 14:35:29 -05:00
matlabbe
54e2688a1d
Fixed build with pcl > 1.11.1 ( #641 )
2020-11-14 16:52:01 -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
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
92b1dabf1c
MainWindow: avoid uncompressing images/scans if they are not shown
2020-11-03 16:12:43 -05:00
matlabbe
e269067d4c
Texturing: add distanceToCamPolicy option
2020-11-03 16:11:37 -05:00
matlabbe
6a730b51c7
GUI-Preferences: disabled Daisy feature option on OpenCV 2
2020-11-01 13:01:23 -05:00
