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38 Commits

Author SHA1 Message Date
matlabbe
4769fc235f Refactoring: set default local transform for camera drivers to opticalRotation. Added CameraModel::opticalRtotation() static function for convenience. Added CameraModel::load() from file directly for convenience. Added Camera::initFromFile() for convenience. Transform: Added opengl_T_rtabmap() and opengl_T_rtabmap() functions for convenience (convert back and forth between rtabmap world and opengl world coordinate frames) 2020-06-08 11:40:47 -04:00
Thomas Kircher
013bd0c72a K4A device, fixed some stale edits (#553) 
* Added Kinect for Azure menu option

* Reintegrated Kinect for Azure initialization code, fixed previous GUI commit

* Added ifdefs to fix build

* Added preliminary K4A device support

* Edits to K4A camera implementation

* K4A minor initialization fix

* Typo

* Another initialization fix

* Update CameraRGBD tool to display K4A camera output
 2020-05-20 19:36:15 -04:00
matlabbe
14ec619b1e Added MYNT EYE S support. Fixed StereoCameraModel rectification not done with non-square images, also updated to support fisheye model. 2020-04-30 00:57:47 -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
f903ffb927 Fixed regression errors for OpencV2 (#309) 2018-09-18 23:03:40 -04:00
matlabbe
124543c57d Fixed compilation errors with OpenCV 4.0.0 (#309) 2018-09-18 22:43:18 -04:00
matlabbe
502d5e75e8 CameraRealSense2: added IR-Depth mode option 2018-06-15 14:35:54 -04:00
matlabbe
2060e0b1da Added CameraRealsSense2 driver (tested only with D435) 2018-06-15 12:24:00 -04:00
matlabbe
7dabfdc207 Added CameraK4W2 (Kinect for Windows SDK v2 driver) 2017-11-06 00:19:12 -05:00
matlabbe
9d09c509ab Added librealsense support #100 2016-07-26 18:39:34 -04:00
matlabbe
ca6cd19fb1 Updated Copyright year and About dialog summary 2016-07-17 21:57:10 -04:00
matlabbe
4cd8705710 Fixed cloudFromDepth() method when depth image is not the same size as the calibration file. That fixes projection map created from Tango databases (where depth size != rgb size) 2016-07-08 12:47:23 -04:00
matlabbe
d9611f784c Added ZED parameters 2016-06-02 17:27:12 -04:00
matlabbe
6f1f490370 0.11.7: Added ZED sdk support 2016-05-31 19:09:49 -04:00
matlabbe
eb21280f04 Changed CameraModel::isValid() to CameraModel::isValidForProjection() for clarity (in contrast to CameraModel::isValidForRectification()) 2016-01-19 21:01:56 -05:00
matlabbe
9cc94ce1e6 Added Stereo and StereoDense base classes (with Stereo->StereoOpticalFlow and StereoDense->StereoBM) to handle easily stereo parameters. Added stereoEval tool to test Stereo/OpticalFlow=false or true. Added StereoBM parameters. Refactoring of the Preferences dialog (tree view order and some titles) 2015-12-11 17:44:15 -05:00
matlabbe
2ee9183c17 Updated CameraFreenect2 with latest freenect2 library (commit cdeb07917c) 2015-11-03 17:31:07 -05:00
matlabbe
ce2bbd8feb CameraThread: Added stereo to depth option. Added parameter "Mem/SaveDepth16Format". 2015-08-27 17:16:12 -04:00
matlabbe
fb68b3f67d fixed build on linux 2015-07-17 16:24:02 -04:00
matlabbe
d80c730d3b rgbd_camera: added option to choose codec (FourCC) when recording stereo images to video 2015-07-16 20:59:33 -04:00
matlabbe
6872b16550 rgbd_camera: Added option to save stereo images to directory or side-by-side avi file 2015-07-16 11:52:09 -04:00
matlabbe
6df403ed42 Refactored Camera classes and Preferences->Source menu 2015-06-26 18:21:32 -04:00
Mathieu Labbe
50eeda5b95 merged multicamera branch into devel branch 2015-06-16 17:41:51 -04:00
matlabbe
b8dccc2228 Added CameraStereoImages class to read stereo images from a directory. Added a particle filter to smooth odometry trajectory. Added parameter RGBD/OptimizeEpsilon to limit TORO iterations when error improvement is small. Added Rtabmap/CreateIntermediateNodes parameter: this can be used to keep all odometry poses 'between' nodes used for loop closure detection. Added PnP approach to loop closure constraint estimation. Fixed decimation of stereo images when image size is odd. 2015-06-11 16:57:16 -04:00
Mathieu Labbe
bd9fb1027b Added util3d::laserScanFomrDepthImage() and some refactoring 2015-05-31 01:26:57 -04:00
Mathieu Labbe
9fde57843f Increased version to 0.9.0. Refactoring: Split util3d.h into multiple files util3d_****.h to reduce compilation time. Also removed all PCL templates to reduce memory used while compiling. 2015-05-13 19:54:23 -04:00
matlabbe
0e21be7f67 Added Kinect v2 calibration and registration 2015-04-10 17:36:13 -04:00
Mathieu Labbé
3ed6a1b2f0 Version 0.8.9: added FlyCapture2 driver for bumblebee2 (tested only on Windows) 2015-04-07 12:00:10 -04:00
matlabbe
5b5a32839c Added close buttons to CameraViewer and OdometryViewer dialogs 2015-04-06 13:35:44 -04:00
Mathieu Labbe
04b35b2adf GUI: Added new Freenect2 and StereoDC1394 source options. 2015-04-06 00:28:04 -04:00
Mathieu Labbe
786e846f65 Added CameraDC1394, CameraModel and StereoCameraModel classes 2015-04-04 11:29:14 -04:00
Mathieu Labbé
2e644c4b05 rgbd_camera: fixed crash on Windows when using Openni2 driver 2015-04-02 23:05:31 -04:00
matlabbe
51131e9feb Added CameraFreenect2 support for Kinect v2 (images are not yet registered) 2015-04-02 16:33:35 -04:00
matlabbe
faf43cc82c Odometry: added force2D option 
Changed parameter RGBD/ScanMatchingSize to RGBD/PoseScanMatching

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2050 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-19 23:38:15 +00:00
matlabbe
29097c023e Changed license to BSD 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1633 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-08-11 17:00:55 +00:00
matlabbe
f090c81aaf Added CalibrationDialog in Preferences->source for convenience. The database is also changed to handle new FX, FY, CX and CY intrinsic parameters instead of only depthConstant parameter. Added version of the database in a new table Admin. Updated to version 0.7.0. 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1613 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-26 04:36:00 +00:00
matlabbe
3328a7c9a0 CameraRGBD example, show usage when no argument is set 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1585 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-21 18:46:48 +00:00
matlabbe
b46f1a53a5 moved CameraRGBD example from examples to tools folder 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1584 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-21 18:42:10 +00:00