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0.20.15-galactic
Commit Graph

308 Commits

Author SHA1 Message Date
matlabbe
2ad334df90 Added filter_floor and adjusted default values. 2021-10-29 13:58:00 -04:00
matlabbe
0ab5a8f43e Merge branch 'master' of https://github.com/RobotnikAutomation/rtabmap into RobotnikAutomation-master 2021-10-29 13:57:16 -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
Ines
6cb741667d Add ceiling filter to rtabmap-export 2021-10-22 12:36:53 +02:00
matlabbe
d0242b14cf DetectMoreLoopClosures CLI: show overridden parameters 2021-10-11 13:52:55 -04:00
matlabbe
bccc5b13af FLOAM: added some debug logs 2021-09-24 11:32:25 -04:00
matlabbe
14b56813d3 Updated for AliceVision >=2.4.0 compatibility. Export: added --multiband_contrib option. 2021-09-19 20:20:45 -04:00
matlabbe
a901f20d06 0.20.14: added globalBundleAdjustment CLI, added Rtabmap/Memory::cleanupLocalGrids function, init with optimizedPoses from db even in mapping mode, reprocess: added -db option to save optimized 2d grid in database. 2021-09-11 11:35:43 -04:00
matlabbe
263e0170f1 export: refactored ba (to support stereo data) 2021-09-09 14:22:02 -04:00
matlabbe
20361400e1 export: output intensity channel with RGB when --cam_projection and --scan options are set (PDAL required) 2021-09-07 15:57:23 -04:00
matlabbe
371a3ef851 fixed CleanupLocalGrids install target 2021-09-01 10:23:45 -04:00
matlabbe
daefc5ff54 Added rtabmap-cleanupLocalGrids CLI 2021-08-28 22:19:59 -04:00
matlabbe
c5e4d67f80 export: don't assert if gain is zero (means disabled) 2021-08-16 20:27:31 -04:00
matlabbe
ed68fe777b Added more options for multiband texturing 2021-08-16 13:14:02 -04:00
matlabbe
db00e04cc1 rtabmap-info: updated to show parameters not in the database. 2021-08-12 10:55:08 -04:00
matlabbe
eeecb21793 export tool: added --camera_projection_keep_all option 2021-08-03 13:46:39 -04:00
matlabbe
f9257beeb8 export: updated default poses format (11) 2021-07-05 12:58:24 -04:00
matlabbe
485bf806bd export tool: use pcl's PLY writer instead of pdal if camera ids are not exported (ply compatibility issue when reading back using pcl) 2021-07-05 10:04:51 -04:00
matlabbe
68ae3b76af export: updated to export calibration for every files (to support auto-focus cameras). Added output_dir option. 2021-07-05 09:46:12 -04:00
matlabbe
5167927d01 report: added --ignore_inter_nodes option. CloudViewer: set max absolute scan intensity to 100 (was 0=auto). reprocess/replay db: ignore intermediate nodes if Rtabmap/CreateIntermediateNodes is false. 2021-06-21 17:23:53 -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
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
4390cb6428 calibration tool: added RealSense2 T265 support 2021-05-12 18:31:41 -04:00
matlabbe
d75f9524f3 Export: added --texture_depth_error option 2021-05-12 10:56:16 -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
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
matlabbe
b92f55be43 Export tool: added multi-camera support when exporting camera poses 2021-04-08 10:23:38 -04:00
matlabbe
d002711f21 reprocess tool: Updated usage description to upgrade db version 2021-03-27 16:21:52 -04:00
matlabbe
c4d127cae4 Export: added more options for pose format and image file name. 2021-03-21 19:05:24 -04:00
matlabbe
ccc519ec58 Export: added --output name option. 2021-03-13 20:58:10 -05:00
matlabbe
1e4b172a7d Export: added poisson polygon size option 2021-03-13 19:01:09 -05:00
matlabbe
752509fb15 Rtabmap::detectMoreLoopClosures: added clusterRadiusMin parameter and update optimized poses after each accepted loop closure (also in MainWindow) like in DbViewer. Added graph::computeMinMax(poses). OdometryInfo: added guess transform. Export: added min/max axis ranges to filter nodes before expoting clouds. 2021-03-13 18:42:13 -05:00
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
736c8aceae Export tool: show an error if file doesn't exist 2021-03-09 14:06:33 -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
d119487dd7 Coloring scan (camera projection on point cloud) (#693) 
* 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). 
* 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
481a140f84 util3d: Refactored laserScanFromPointCloud() functions to return LaserScan with correct format instead of cv::Mat. 2021-02-07 17:27:55 -05:00
matlabbe
4d75361fe0 CameraImages: support scan only dataset. 2021-01-24 13:21:30 -05:00
matlabbe
d700d09339 DataRecorder tool: interface changed to use config file (#661) 2020-12-13 12:42:58 -05:00
matlabbe
da8e76ffed rtabmap-matcher: added --calibration_to option (to use a different calibration file for the second image). 2020-12-05 13:21:58 -05:00
matlabbe
3131474102 Added Db/TargetVersion parameter (#652) 2020-12-03 15:45:40 -05:00
matlabbe
54e2688a1d Fixed build with pcl > 1.11.1 (#641) 2020-11-14 16:52:01 -05:00
matlabbe
d04b1a13be multiband: add multi-camera support. rtabmap-export: updated options (now supporting creating point cloud from scans). 2020-11-04 14:02:18 -05:00
matlabbe
e269067d4c Texturing: add distanceToCamPolicy option 2020-11-03 16:11:37 -05:00
matlabbe
99275fba1d Added Daisy descriptor. ORB: updated default parameters. Making ORBOctree using ORB parameters. Updated Vis/CorNNDR default from 0.6 to 0.8 (increase number of matches with binary descriptors, increase slightly feature matching time with float descriptors). Note that jfr2018 scripts have been updated to use old value 0.6. rtabmap-info: show descriptor dimension and type. 2020-11-01 11:28:59 -05:00