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
f7bc47572b
Parameters: Icp/VoxelSize default updated from 0 to 0.05
2021-03-01 11:22:40 -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
e59aad03ed
Fixed android build with latest laserScanFromPointCloud changes
2021-02-19 14:25:34 +00:00
matlabbe
9bf12742b1
fixed #688
2021-02-18 21:04:00 -05:00
matlabbe
bb7e9edb9b
Fixed create2DMap assert on 32FC2 when subscribing 2D scans with intensity. LaserScan: fixed assert when angle_min > angle_max (with angle_increment < 0)
2021-02-16 10:47:31 -05:00
matlabbe
f871e4359d
Fixed optimized map cleared when optimized graph is smaller than WM (poses should still refer to nodes in WM). Removed warning about max scan points smaller than actual scan (this can happen when assembling scans for proximity detection). Lowering default Icp/PMOutlierRatio to 0.85.
2021-02-12 18:40:40 -05:00
matlabbe
03cfaf2063
DBViewer: Added option to export odometry poses
2021-02-12 11:22:02 -05:00
matlabbe
089441a496
Fixed loadScan return 2D cloud for organized PCD
2021-02-10 21:35:09 -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
c42a4e3d7e
Fixed assert when loading database having optimized poses different from the working memory (force re-update graph in this case).
2021-02-06 15:10:18 -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
7e298e1999
CameraImages: timestamp file is optional for pose format containing stamp
2021-01-25 13:21:39 -05:00
matlabbe
c9472962d7
bumpt 0.20.9 version
2021-01-24 13:48:05 -05:00
matlabbe
4d75361fe0
CameraImages: support scan only dataset.
2021-01-24 13:21:30 -05:00
matlabbe
e99c658276
fixed scan-only nodes wrongly set as intermediate nodes by default
2021-01-24 11:35:48 -05:00
matlabbe
57326214f1
Fixed texture projection when fx!=fy, cx!=w/2 or cy!=h/2
2021-01-24 10:39:36 -05:00
matlabbe
47e40ef34d
MainWindow: add fake frustum when only lidar is received
2021-01-22 12:51:47 -05:00
matlabbe
aa31a900fb
fixed trusty build ( #682 )
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* fixed trusty build (g2o backward compatibility)
2021-01-20 22:54:48 -05:00
matlabbe
28e624e6b2
fixed g2o build with c++14 #681
2021-01-20 10:45:45 -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
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
814a243693
Add boost link dir on Windows #678
2021-01-17 15:06:47 -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
eae5f2b428
fixed #674
2021-01-11 11:38:31 -05:00
matlabbe
94cf1dfd32
Fixed zero-ed 3D words when receiving odometry's 2D keypoints > Kp/MaxFeatures and empty 3D points
2021-01-09 20:52:34 -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
f1993d9cd7
android: fixed z-fighting on some android devices
2021-01-02 18:14:55 -05:00
matlabbe
da99d7e4a0
disabled osx travis build (too long to do)
2020-12-20 00:07:34 -05:00
matlabbe
e896ffb5c0
Update .travis.yml
2020-12-19 23:16:28 -05:00
matlabbe
04cbf56cc0
Update .travis.yml
2020-12-19 22:37:13 -05:00
matlabbe
c5051bf82a
Update .travis.yml
2020-12-19 21:38:13 -05:00
matlabbe
7a9f01b9a3
Update .travis.yml
2020-12-19 12:55:12 -05:00
matlabbe
70094edb75
Update .travis.yml
2020-12-19 12:38:36 -05:00
matlabbe
eb2af19a89
Update .travis.yml
2020-12-19 12:28:02 -05:00
matlabbe
af227bad51
Update .travis.yml
2020-12-19 12:21:25 -05:00
matlabbe
ee63ce338a
Update .travis.yml
2020-12-19 12:11:19 -05:00
matlabbe
1b3a6abb82
Update .travis.yml
2020-12-19 11:48:06 -05:00
