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160 Commits

Author SHA1 Message Date
Borong Yuan
8d6c809c3c Update data sync implementation for DepthAI 2023-05-27 21:28:43 +08:00
Borong Yuan
52e417c313 Set IMU extrinsics to left camera optical frame 2023-05-25 12:19:07 +08:00
Borong Yuan
5592a1ebfe Update IMU local transform 2023-05-25 00:01:55 +08:00
Borong Yuan
ffd89ead86 Get baseline using sdk method 2023-05-22 22:06:45 +08:00
Borong Yuan
937e9fbb3b Advanced parameter tuning for depth quality optimization 2023-05-22 20:29:44 +08:00
Borong Yuan
9ecf71e5ed Update DepthAI camera model 2023-05-22 18:37:08 +08:00
Borong Yuan
ff83b14b49 Add options to enable IR featues on OAK Pro models 2023-05-18 01:48:38 +08:00
matlabbe
e54195c47f ZED SDK 4 support (#1013) 2023-04-16 18:47:15 -07:00
matlabbe
59d220c54f k4a: fixed playback fps and imu handling 2023-02-08 21:15:16 -08:00
matlabbe
128d3b0d0a ZED: Fixed some warnings (#961) 2023-01-28 16:33:24 -08:00
matlabbe
1297714271 Bump version 0.20.22. Refactored RtabmapThread commands handling. MainWindow/RtabmapThread/Statistics/UVariant: added new option to republish missing data on GUI side. MainWindow: fixed 1 sec lag when waypoints are used. Parameters: added Rtabmap/MaxRepublished (moved from rtabmap_ros). OccupancyGrid: fixed ground cells ignored if there are empty cells, also don't add pose in addedNodes if corresponding node was not in cache. 2022-10-28 12:25:48 -07:00
matlabbe
df888962f4 depthai: fixed app freezing if oakd device (oak-d lite) doesn't have imu and imu is requested. 2022-10-24 11:13:27 -07:00
matlabbe
769ace86ce Added oak-d lite menu option (depthai: imu is now optionnal) 2022-10-23 18:15:23 -07:00
matlabbe
5943a8b065 Added stereo multi-camera support (#884) 
* Integrated OpenGV

* Fixed build without opengv

* Cmake: moved OpenGV dependency status under solvers group

* Added multi-stereocamera models support

* Fixed OpenGV 0 sample error when one of the camera doesn't have features. Fixed g2o BA id offset with multi-camera.

* Fixed multicam 3d points generated from stereo correspondences

* db: Fixed multi stereo models not loaded correctly

* gui: fixed stereo rectification option, RegVis: fixed projection error with old databases (image size not set in calibration)

* OdomF2M: Fixed map.at error when bundle adjustment is not used

* depthai: added imu firmware update option for convenience

* Fixed various refactor errors

* Moved "large number stereo correspondences rejected" warning outside computeCorrespondences function for multicam

* Added error log if ba correspondences are computed with empty signatures

* fixed compilation errors with latest opencv

Co-authored-by: mathieu86 <mathieu@robust.ai>
 2022-07-20 15:20:14 -04:00
matlabbe
83c1adfd1e Updated illumination invariant paper documentation 2022-06-26 20:46:08 -07:00
matlabbe
4321c3040a CameraDepthAI: fixed imu transform and depth mode with latest depthai-core version 2022-03-06 22:25:01 -05:00
matlabbe
ec2aa5c952 OpenNI2: depth shift can be negative. MainWindow: postProcessing() refactoring (split with and without dialog). 2021-11-09 10:16:12 -05:00
matlabbe
ddd5eb5a41 CameraRealSense2: Odom extrinsics against another sensor can be calibrated with having to calibrate stereo first. DBViewer: fixed local grid wrongly using global grid parameters. 2021-11-05 18:05:50 -04:00
matlabbe
8682026396 Rtabmap: when optimizing graph, removed guess for rootid to avoid global rotation drift over time. CameraStereoImages: set BayerMode also to right image. GraphView: fixed 0 width for line inside NodeItem. Reprocess: added -loc_null and -gt options. 2021-10-23 11:17:42 -04:00
matlabbe
8c56b5b1ce CMake: added WITH_OPENMP option (to be able to disable it). CameraOpenNI2: Added depth decimation parameter. CLAMS: can apply distortion model to smaller images. 2021-09-24 17:31:16 -04:00
matlabbe
3ba02d2ef6 Added OdometryFLOAM (Odom/Strategy=11) 2021-09-09 17:38:54 -04:00
matlabbe
a5685c3e31 Fixed build without DepthAI dep 2021-07-28 17:05:16 -04:00
matlabbe
32bf0f9d61 Fixed CameraDepthAI with latest depthai version (using now camera eeprom calibration and added imu support) 2021-07-28 14:19:30 -04:00
matlabbe
12c46286f6 CameraRealSense2: added support for device id like D435, t265, L515, d435i, d415 for convenience (if we have multiple D435, we still need to use on of the serials shown in log info when starting the driver) 2021-06-01 11:40:46 -04:00
matlabbe
ada3e75005 Camera class: localTransform parameter should not have optical rotation anymore (it is added afterwards in the constructor). OdomSensor: the extrinsics should not contain optical rotation anymore. These 2 changes make it more convenient to set transfomation parameters in the UI. MainWindow::createCamera() now has odomSensor argument for convenience (for inherited classes to set both camera and odom sensor in the same function). 2021-05-26 13:40:46 -04:00
matlabbe
21dbeed4b7 Odom sensor option (#726) 
* Added Odom Sensor option

* Odom Sensor: Added pose time offset parameter

* Gui: fixed odom cloud not shown when rgb/depth doesn't have same size. Odom sensor: fixed rawImages set on non-stereo camera (because stereoRectify wrongly set to all cameras)

* Calibration: fixed rgb and depth suffixes not correctly set. OpenNI2: horizontal and vertical shifts can be also set for default calib.

* Fixed a warning

* OdomSensor: added option to use odom sensor output as ground truth (for comparison between odom sensor and rtabmap odom). Added scale factor option.

* FindG2O.cmake: updated path suffixes to find EXTERNAL csparse

* Pose3GravityFactor: fixed dllimport error on windows

* UI: Statistics panel not updated if not visible and keep stats in cache is unchecked. Added description to some timing debug logs in processStatistics().

* Removed vtkOutputWindow on Windows

* Odom Sensor: added zed sdk support

* bump version 0.20.11
 2021-05-23 17:21:12 -04:00
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
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
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
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
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
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
d8ebbc2645 CameraK4A: rectifying color image (this improves a lot visual odometry accuracy) 2020-12-13 15:27:17 -05:00
matlabbe
049238dd59 Gui: added L515 icon 2020-12-11 09:56:17 -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
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 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
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