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Author SHA1 Message Date
matlabbe 62b5f13dd8 MainWindow: added currentVisiblePosesMap() 2021-06-20 23:05:24 -04:00
matlabbe b8c22e1c99 Fixed pcl::voxelGrid filtering crash on Windows (latest PCL, eigen allocation issue) 2021-06-18 16:02:17 -04:00
matlabbe d75cc04ad2 CloudViewer: fixed opengl not refreshed on update (VTK9). Fixed File Explorer hanging (Qt 5.12). Fixed backup database not deleted after a recovery. 2021-06-18 12:43:08 -04:00
Charles Maillette 8d2dbe32c4 Added libpdal to rtabmap docker build for focal (#735) 2021-06-17 15:36:28 -04:00
matlabbe a9d4fc9291 Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping). 2021-06-15 20:45:45 -04:00
matlabbe 696216b35b Fixed occlusion image origin offset (iOS and android). Android: disabled maximum odom image rate for faster feedback in First-Person. Min/Max range parameters also filter scans. Fixed background renderer not showing image (ARCore Java driver). 2021-06-13 22:07:47 -04:00
matlabbe 6342658ec5 iOS: fixed origin when we do New Scan while we were already mapping, improved FPV feedback in point cloud mode, showing camera overlay in visualization mode (pinch out to disable). Localization mode: Updated how marker detection transform are modified by gravity constraints. 2021-06-12 12:42:56 -04:00
matlabbe 3f633081cb iOS: improved feedback in first-person mapping mode (red background), fixed not matching camera overlay with 3D model, updated how memory usage is computed. 2021-06-11 21:41:59 -04:00
matlabbe a6f3a81999 fixed ios build 2021-06-11 10:20:07 -04:00
matlabbe 3e3d4142fc RGBD/OptimizeMaxError default to 1 for mobile apps. iOS: increased Kp/MaxFeatures to 400 (was 200). 2021-06-11 09:29:37 -04:00
matlabbe 0a37d01d1d ios/android: Updated default MaxOptimizeError to 1.5x 2021-06-10 11:27:53 -04:00
matlabbe ba38d9f321 Added depth/rgb registration option 2021-06-10 11:07:25 -04:00
matlabbe d7b5fa5d17 fixed android build 2021-06-09 17:45:01 -04:00
matlabbe 766301b175 fixed desktop build 2021-06-09 11:25:01 -04:00
matlabbe 289d4afd76 ios first release 2021-06-08 00:06:49 -04:00
matlabbe 630cb6a59f Odometry: when "Rtabmap/ImagesAlreadyRectified" is false and odometry strategy doesn't support raw images, added rectification for RGB-D data (only rgb rectified though) for convenience. 2021-06-01 14:33:17 -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 c9dbe6205d Docker: added nvidia drvier embedding examples for convenience 2021-05-30 14:21:17 -04:00
chameau5050MarcLeclercGitmatlabbe
 		f94f9cbb9b improve flood fill and move it to update function (#727) 
* add flood fill filter

* change to use unordoned_multiset

* remove recursivity in flood fill and move the flood fill into the update

* Refactoring of OctoMap constructors (keeping only one). Simplified floodfill parameters to only one and added it to UI.

* Fixed ray tracing not done in local 3D maps (OctoMap)

Co-authored-by: MarcLeclercGit <marcantoine.leclerc96@gmail.com>
Co-authored-by: matlabbe <matlabbe@gmail.com>
 2021-05-30 10:12:07 -04:00
matlabbe b7c2f6801b unknownSpaceFilled: refactored approach to fix the case of 360 scan with first ray y>=0 (turtlebot3 sim). 2021-05-27 18:19:34 -04:00
matlabbe 8b1b874bf3 Statistics: added LoopOptimization_max_ang_error stats 2021-05-27 13:00:29 -04:00
matlabbe 127a41a53e MainWindow::createCamera() fixed parameters not passed by reference 2021-05-26 21:13:14 -04:00
matlabbe c1492533c3 OctoMap: fixed empty cells not all added to global occupancy grid 2021-05-26 16:27:49 -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 fe896260c5 commonFiltering(): warn when normals could not be computed (returned all NaNs) 0.20.10-noetic 2021-05-16 11:58:17 -04:00
matlabbe 56bc15d7cd MainWindow: fixed bg color not shown on loop closures when only scans are used. 2021-05-16 11:15:05 -04:00
matlabbe e9d7fcd7ae Vtk9 support (#722) 
* Fixed build with VTK9

* Fixed VTK9 build with OctoMap dependency (vtkRenderingVolumeOpenGL2 missing)
 2021-05-15 19:43:47 -04:00
matlabbe 8c336e1e39 Voxel filter: added support for very large clouds. Gui/Export: added footprint filtering option. Moved all filtering options under Cloud Filtering group. 2021-05-14 21:02:09 -04:00
matlabbe 4390cb6428 calibration tool: added RealSense2 T265 support 2021-05-12 18:31:41 -04:00
matlabbe 20c2e8b5be Docker: updated libpointmatcher version in bionic/focal images (https://github.com/introlab/rtabmap/issues/720) 2021-05-12 14:01:26 -04:00
matlabbe ad8b2301d8 Docker/focal: fixed alicevision patch corrupted (no newline) 2021-05-12 11:27:26 -04:00
matlabbe d75f9524f3 Export: added --texture_depth_error option 2021-05-12 10:56:16 -04:00
matlabbe aedc70218b Docker: added AliceVision dependency to focal image 2021-05-12 10:38:37 -04:00
matlabbe a11492943a Export CLI: added print info for coloring mesh step 2021-05-10 15:19:48 -04:00
matlabbe 854a52c6a5 Export CLI: added noise_radius and noise_k options to filter noise 2021-05-10 14:45:35 -04:00
chameau5050andMarcLeclercGit b4f11e18f3 add flood fill filter (#714) 
* add flood fill filter

* change to use unordoned_multiset

Co-authored-by: MarcLeclercGit <marcantoine.leclerc96@gmail.com>
 2021-05-07 17:05:01 -04:00
matlabbe 6449302318 appveyor: added opencv 4.5.0 binaries with opencv_contrib 2021-05-02 21:41:48 -04:00
matlabbe 3623ede989 Update .appveyor.yml 2021-05-02 20:37:45 -04:00
matlabbe 0e051a16a0 Update .appveyor.yml 2021-05-02 20:00:16 -04:00
matlabbe c88e3d0a8b Update .appveyor.yml 2021-05-02 19:55:57 -04:00
matlabbe ff956a725e Fixed "localization won't be corrected with gravity" warning in localization mode and imu data are not used (while Optimizer/GravitySigma>0) 2021-05-02 19:42:59 -04:00
matlabbe 40ab98a814 docker-focal: cleanup downloaded k4a binaries 2021-05-02 13:30:57 -04:00
matlabbe f02efb5836 docker-focal: added libfreenect2, k4a, realsense2, zed open capture support (#673) 2021-05-02 13:17:53 -04:00
matlabbe 0764999f22 Fixed focal docker image with gtsam (#673) 2021-05-02 11:59:36 -04:00
matlabbe 7515556444 Update LICENSE 2021-04-23 20:42:39 -04:00
matlabbe 3b7c6cd1f4 DBViewer: added camera projection on scan option (GUI params). Fixed some deprecated warnings. 2021-04-19 18:14:20 -04:00
matlabbe 93bfad626e Update .travis.yml 
Removed deprecated trusty build from travis (https://travis-ci.org/github/introlab/rtabmap/jobs/766950721)
 2021-04-14 13:12:31 -04:00
matlabbe 2fcef88016 Export: added --poses_format option (default 10=RGBD-SLAM format). Added new pose format 11=RGBD-SLAM + ID. 2021-04-13 15:49:04 -04:00
matlabbe f4207979ad Export: fixed calibration not exported if camera name is not set. For multi-camera, added index suffix to yaml. 2021-04-09 16:20:08 -04:00