matlabbe
bfc64c451a
MainWindow: added /map and /odom coordinate frames
2020-03-10 10:30:42 -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
cb80d85dd6
DbViewer: removed graph optimization from latest optimized poses (see http://official-rtab-map-forum.67519.x6.nabble.com/Database-Post-Processing-Save-refined-links-td6504.html )
2020-03-01 16:59:46 -05:00
matlabbe
dceec711e0
report: added --loop option to compute loop closure errors
2020-03-01 14:11:37 -05:00
matlabbe
67f1ce600f
ament f7deefb31d for OpencV >=3.4.4
2020-02-29 15:22:14 -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
80bee99bfc
ExportDialog: show (disabled) multi-band option even if not available for viewing (only for exporting)
2020-02-22 18:16:45 -05:00
matlabbe
882f2010ce
MainWindow/rtabmapviz: Ignore Odometry stats included in rtabmap's Statistics object (to avoid plot reset when also receiving those from odom info)
2020-02-21 16:16:36 -05:00
matlabbe
352507cb1c
Update downsampling filtering approach for ring-like lidars like the ouster
2020-02-21 15:01:31 -05:00
matlabbe
e7a7ab8031
CloudViewer: added scan red colormap and max intensity options
2020-02-20 15:33:50 -05:00
matlabbe
bd979cca34
Fixed rejected 180deg loop closure with multi-camera setup
2020-02-19 14:35:37 -05:00
matlabbe
ab9f05fb0f
Parameters: fixed "False" conversion independently of the case
2020-02-17 12:41:20 -05:00
matlabbe
5c197f176e
DBViewer: fixed Yes vs YesToAll after editing 2d occupancy grid
2020-02-13 17:43:47 -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
e1ecf55d03
fixed 14.04 build
2020-02-05 20:46:15 -05:00
matlabbe
c9f21e7ebf
fixed #498
2020-02-05 20:01:02 -05:00
matlabbe
f7deefb31d
Fixed compilation with OpenCV 4.2 #502 (see https://github.com/opencv/opencv/commit/ad146e5a6b931ac5d179d4fedc58cef99a3c9e7e and https://github.com/opencv/opencv/pull/16046 )
2020-02-05 11:52:31 -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
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
f9e818c900
CMake: alice vision option off by default (because it needs to be modified to be compatible https://gist.github.com/matlabbe/469bba5e7733ad6f2e3d7857b84f1f9e )
2020-01-06 13:39:35 -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
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
matlabbe
2d7ab7bdef
Report: support Odometry/TimeEstimation/ms from ros
2019-12-11 11:33:19 -05:00
matlabbe
57a27a5d17
MainWindow: added virtual functions for convenience
2019-12-10 18:48:54 -05:00
matlabbe
1d7dee8976
kitti-tool: fixed no scan bug when using velodyne odom
2019-12-10 18:39:39 -05:00
matlabbe
9582ea4b55
Update .travis.yml
2019-11-24 09:57:49 -05:00
matlabbe
edee5acdbf
DBViewer: we can now add new links between disconnected maps using only lidar. Export: convert intensity to grayscale when exporting colored mesh.
2019-11-23 17:58:40 -05:00
matlabbe
85e7c9cf04
fixed undefined reference to vtkSmartVolumeMapper::SetRequestedRenderModeToRayCast() when using PCL 1.9.1
2019-11-21 04:07:38 +00:00
matlabbe
b39fd0321e
Update FindK4A.cmake
2019-11-19 09:39:42 -05:00
matlabbe
5f12459437
Docker removed disco and eoan images (keep only LTS images)
2019-11-09 08:48:55 -05:00
matlabbe
070b308595
Docker: xenial and bionic images now depend on ros:kinetic-perception and ros:melodic-perception respectively
2019-11-08 18:41:11 -05:00
matlabbe
e7be12e0ff
Docker: removed alicevision from xenial as Eigen >=3.3 is required
2019-11-06 09:58:52 -05:00
matlabbe
d4cb623d9c
docker: removed eol ubuntu distros
2019-11-04 08:46:58 -05:00
matlabbe
486b32a7d6
Added alicevision dependency in docker files. Added cosmic, disco and eoan docker files.
2019-11-03 21:14:47 -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
c16b22de57
Added alicevision dependency
2019-10-24 08:56:23 -04:00
matlabbe
79ad8dc4be
Fixed #453
2019-10-23 12:43:36 -04:00
matlabbe
6435c74bfe
DBViewer: Added "Edit Constraint" button
2019-10-18 12:22:51 -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
8924f9c5dc
Docker/jfr2018: update msckf patch file (melodic)
2019-10-13 18:07:43 -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
d360420204
report tool: exporting poses in RGB-D dataset format by default, also exporting odom, slam and gt poses.
2019-09-29 19:38:54 -04:00
matlabbe
3fd5cdfb75
DbViewer/detect more loop closures: removed a messagebox when silent and icp-only is used
2019-09-26 12:29:11 -04:00
matlabbe
547da3f3ce
CloudViewer: showing intensity as grayscale instead of generic color handler
2019-09-24 18:18:49 -04:00
matlabbe
aeb2804da8
ViewClouds: fixed wrong color index used by default when normals are not computed with clouds having intensity
2019-09-24 15:55:25 -04:00
matlabbe
cf1997804f
ExportClouds: Fixed exported intensity values (packing/unpacking full float intensity value, not assuming 0-100 like before)
2019-09-24 15:46:35 -04:00
matlabbe
ae374f134b
Fixed https://github.com/introlab/rtabmap_ros/issues/351
2019-09-22 20:09:58 -04:00
matlabbe
c437375f08
Localization: Fixed local map cleared when gravity links are added and no localization happened. Fixed "Word not found" error on initialization when Mem/InitWMWithAllNodes is true.
2019-09-19 15:23:18 -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
b2b1977f8b
Deprecated getClosestTransform(), use getTransform() instead. OdometryF2M: removed patch about forcing roll/pitch from IMU (BA is already doing the job).
2019-09-15 17:31:58 -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
bdc8d839ff
Optimizing the graph if gravity or prior constraints are added in SLAM mode
2019-09-12 18:56:01 -04:00
matlabbe
5b6eddabde
Added support D435i IMU in IR mode
2019-09-12 17:21:35 -04:00
matlabbe
e968fd3ef4
Remove landmark links when a node is deleted (and removed from the graph) #441
2019-09-01 13:17:44 -04:00
matlabbe
380fffb1d9
fixed #435
2019-08-27 15:30:13 -04:00
matlabbe
536f001479
Added OptimizerCeres class (Optimizer/Strategy=3)
2019-08-17 03:55:04 -04:00
matlabbe
38044040a6
Fixed mask when there are inf values in depth image
2019-08-16 16:38:25 -04:00
matlabbe
2a1b737470
OdometryVINS: fixed output pose orientation (D435i and euroc compatible)
2019-08-15 16:46:56 -04:00
matlabbe
4b118ae660
Added FastCV support (see FAST/CV parameter). VWDictionary: loading fixed dictionary only on updates (to avoid loading it multiple times when memory is reset).
2019-08-14 12:09:56 -04:00
matlabbe
d5b4b25287
updated ORBExtractor opencv include (compatibility issue https://github.com/introlab/rtabmap_ros/issues/333 )
2019-08-09 15:31:47 -04:00
matlabbe
262d74d1e3
fixed a compilation error
2019-08-01 16:29:44 -04:00
matlabbe
6767c2ade2
0.19.5: added Icp/RangeMin and Icp/RangeMax parameters
2019-08-01 16:21:01 -04:00
matlabbe
487caab349
CMake: added RTABMAP_QT_VERSION option (default auto)
2019-07-31 10:37:59 -04:00
matlabbe
283274e056
DbViewer: Added Gravity info ( https://github.com/introlab/rtabmap_ros/issues/323 )
2019-07-29 10:45:16 -04:00
matlabbe
1a5220182c
CloudViewer: added vtkTexture.h include ( #425 )
2019-07-28 21:24:55 -04:00
matlabbe
cd5e4f3055
Travis: added xenial build
2019-07-28 20:53:08 -04:00
matlabbe
7ea08b87d5
Travis: added bionic build
2019-07-28 20:46:04 -04:00
matlabbe
a90356f0c9
fixed https://github.com/introlab/rtabmap_ros/issues/326
2019-07-26 14:03:32 -04:00
matlabbe
6713fe8bd2
fixed https://github.com/introlab/rtabmap_ros/issues/330
2019-07-25 13:15:44 -04:00
matlabbe
62d8a892c6
DbViewer: fixed graph not re-optimized after refining an added link. Rtabmap: RGBD/ProximityPathMaxNeighbors=1 means only nearest node on a path
2019-07-23 15:21:32 -04:00
matlabbe
3558640407
OptimizerGTSAM: fixed landmarks not transformed back in 3D after 2D optimization (slam2d)
2019-07-17 12:15:04 -04:00
matlabbe
5222506578
DbViewer: neighbor links can be rejected (a warning about splitting the graph is shown though)
2019-07-11 18:53:47 -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
63be7c85fc
DBViewer: when adding new constraints, if visual reg is not used, we use optimized graph as guess
2019-07-05 16:28:31 -04:00
matlabbe
78d0d60b9f
Added RealSense SR300 camera support ( #421 )
2019-07-05 11:19:45 -04:00
matlabbe
bb94adc846
UPlot: Fixed backward compatibility with Qt4
2019-07-03 14:22:17 -04:00
matlabbe
abbf7e4476
Updated UPlot data copy to include data of all curves (common x-axis), added also mean and max along stddev in legend item option
2019-07-03 12:01:34 -04:00
matlabbe
72e613fe28
UPlot: updated copy curve data to clipboard format to be more convenient for copy/paste directly in excel, also added curve names as header
2019-06-26 16:59:44 -04:00
matlabbe
49977b5475
Added ground truth localization error stats
2019-06-26 16:21:03 -04:00
matlabbe
9d8fd364e3
UI/Preferences: Adjusted Vis/MinInliersDistribution decimals
2019-06-18 14:22:29 -04:00
matlabbe
50fdc210c9
Memory: added some warnings about pre-postdecimation parameters, updated their description (removed negative decimation comment)
2019-06-17 10:19:54 -04:00
matlabbe
d205683eb5
Added parameters Vis/MeanInliersDistance and Vis/MinInliersDistribution
2019-06-16 18:54:39 -04:00
matlabbe
85edc57ba5
Added RGBD/MaxLocalizationDistance parameter
2019-06-12 16:03:52 -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
e09a872fa2
GUI: added word wrap to transform label in loop closure viewer. Memory: creating a RegistraitonVis for stereo from motion if memory's registration pipeline is not vis only.
2019-06-02 14:59:11 -04:00
matlabbe
cdbdc36c94
RegICP: Updated warning when complexity is too low. LoopClosureViewer: fixed scan transform.
2019-06-02 12:38:09 -04:00
matlabbe