matlabbe
034adb9f1f
fixed #503
2020-04-02 15:07:32 -04:00
matlabbe
fd1fa0320a
fixed build with latest libpointmatcher
2020-04-01 15:52:46 -04:00
matlabbe
b95195d8bb
CameraRealSense2: added json preset file option ( #513 )
2020-04-01 12:25:28 -04:00
matlabbe
451211cfb1
OdomInfo: added icpCorrespondences. Stats: using norm instead of x for distance/speed. Added odometry speed statistic in mph
2020-03-28 17:07:22 -04:00
matlabbe
06caa328a4
Lidar low complexity update. util3d::computeNormalsComplexity(): added optional transform (used in RegistrationIcp to get normal vectors in right coordinate frame). RegistrationIcp: Fixed PointToPoint ICP not used with PM when recomputing transform from low complexity. Added more info in warning messages when low complexity happens. OdometryF2M: avoid adding key frame when scan has low complexity. Same for the first frame to init the local scan map.
2020-03-28 16:25:27 -04:00
matlabbe
5122d9ac02
Memory: fixed fisheye distortion index error when rectifying only features
2020-03-24 11:46:16 -04:00
matlabbe
5371f94c8f
VS2019: fixed build
2020-03-11 23:34:55 -04:00
matlabbe
39724e239c
rtabmap: fixed graph not re-optimized (if empty) after first localization on landmark
2020-03-10 13:08:47 -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
5daf4e5b2b
Rtabmap: avoid optimizing for only gravity if odometry is already aligned with gravity
2020-02-26 13:40:03 -05:00
matlabbe
352507cb1c
Update downsampling filtering approach for ring-like lidars like the ouster
2020-02-21 15:01:31 -05:00
matlabbe
bd979cca34
Fixed rejected 180deg loop closure with multi-camera setup
2020-02-19 14:35:37 -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
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
Walter Lucetti
8810c9e694
Compilation fixes ( #501 )
...
Great! Thx a lot!
It should fix issue #499 as well.
2020-01-31 14:17:10 -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
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
Louis Petit
af2b221958
OctoMap added frontier cloud output
2019-12-17 17:31:37 -05:00
matlabbe
af9e113112
Gui: added missing OdomF2M/ScanRange parameter
2019-12-11 17:17:29 -05:00
PrescilliaA
4479a6f7e8
Odometry local map can be limited by range ( #482 )
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* Odometry local map is now dependent on robot range and not on time, recalculating normals after adding new scan to the map as well
2019-12-11 13:43:38 -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
79ad8dc4be
Fixed #453
2019-10-23 12:43:36 -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
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
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
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
