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  • ae92ec40d7 Fixed build with LOAM dependency matlabbe 2021-07-14 13:22:47 -04:00
  • 7338cb8a85 Localization: fixed initial graph optimization root id (based on RGBD/OptimizeFromGraphEnd) when optimized graph is not saved in db. 0.20.13-rolling 0.20.13-galactic 0.20.13-foxy matlabbe 2021-07-09 14:57:15 -04:00
  • 456560b9e4 DBViewer/Extract Images: export calibration for each image, also now export multi-camera calibrations. matlabbe 2021-07-07 12:21:57 -04:00
  • f9257beeb8 export: updated default poses format (11) matlabbe 2021-07-05 12:58:24 -04:00
  • 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) matlabbe 2021-07-05 10:04:51 -04:00
  • 68ae3b76af export: updated to export calibration for every files (to support auto-focus cameras). Added output_dir option. matlabbe 2021-07-05 09:46:12 -04:00
  • 05d45872f3 DBReader: publish landmarks by default (also added option to ignore them) matlabbe 2021-06-29 16:03:21 -04:00
  • 3da4bb9faa For Icp/DebugExportFormat and RGBD/ProximityGlobalScanMap, use Rtabmap/WorkingDirectory as output directory for debugging files. matlabbe 2021-06-27 20:37:42 -04:00
  • a921d615c5 0.20.13: templated laserScanFromPointCloud() version with PCLPointCloud2 to be also used with sensor_msgs/PointCloud2 class (for rtabmap_ros). matlabbe 2021-06-27 19:32:32 -04:00
  • 2b9ae3a2ad Added Icp/DebugExportFormat parameter matlabbe 2021-06-26 16:06:25 -04:00
  • 1a64e05e2f fixed code merged matlabbe 2021-06-26 13:47:49 -04:00
  • 350f995ee9 merged master to scan_map branch matlabbe 2021-06-25 16:38:03 -04:00
  • eabf3e3d57 Decimation parameters for feature detection cannot be negative anymore (always done based to RGB image and depth image is decimated only if it is bigger than decimated rgb image). MainWindow: fixed light blue screen-only on full rehearsal merge. matlabbe 2021-06-25 12:54:52 -04:00
  • be24203840 iOS: added toast info on rejected loop closures matlabbe 2021-06-24 22:39:25 -04:00
  • 48ebf969bd OdometryInfo: fixed IcpRMS not copied in copyWithoutData() matlabbe 2021-06-24 22:38:19 -04:00
  • 656618ccb7 Merge branch 'master' of https://github.com/introlab/rtabmap into scan_map matlabbe 2021-06-24 19:53:23 -04:00
  • f5ab422c42 Odom: when odom is auto reset, reprocess the latest image and return its pose matlabbe 2021-06-24 13:41:38 -04:00
  • 5a676e9032 Fixed negative Odom/ImageDecimation not handled matlabbe 2021-06-24 12:44:18 -04:00
  • 11e9837b82 Added RGBD/ProximityGlobalScanMap for proximity detection using the whole scan map in localization mode. Added Icp RMS statistics (CCCorelib). Updated how localization is corrected with gravity when available (simply use roll and pitch of current gravity constraint). matlabbe 2021-06-23 17:13:07 -04:00
  • dddf6378ae MainWindow: fixed currentVisiblePosesMap matlabbe 2021-06-22 08:16:39 -04:00
  • 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. matlabbe 2021-06-21 17:23:53 -04:00
  • f475f2d21c 0.20.12: iOS/android sync matlabbe 2021-06-21 10:07:30 -04:00
  • 9fccb8703a Merge branch 'master' of https://github.com/introlab/rtabmap into ios matlabbe 2021-06-21 09:41:11 -04:00
  • 62b5f13dd8 MainWindow: added currentVisiblePosesMap() matlabbe 2021-06-20 23:05:24 -04:00
  • b8c22e1c99 Fixed pcl::voxelGrid filtering crash on Windows (latest PCL, eigen allocation issue) matlabbe 2021-06-18 16:02:17 -04:00
  • d75cc04ad2 CloudViewer: fixed opengl not refreshed on update (VTK9). Fixed File Explorer hanging (Qt 5.12). Fixed backup database not deleted after a recovery. matlabbe 2021-06-18 12:43:08 -04:00
  • 8d2dbe32c4 Added libpdal to rtabmap docker build for focal (#735) Charles Maillette 2021-06-17 15:36:28 -04:00
  • 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). matlabbe 2021-06-15 20:45:45 -04:00
  • 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). matlabbe 2021-06-13 22:07:47 -04:00
  • 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. matlabbe 2021-06-12 12:42:56 -04:00
  • 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. matlabbe 2021-06-11 21:41:59 -04:00
  • a6f3a81999 fixed ios build matlabbe 2021-06-11 10:20:07 -04:00
  • 3e3d4142fc RGBD/OptimizeMaxError default to 1 for mobile apps. iOS: increased Kp/MaxFeatures to 400 (was 200). matlabbe 2021-06-11 09:29:37 -04:00
  • 0a37d01d1d ios/android: Updated default MaxOptimizeError to 1.5x matlabbe 2021-06-10 11:27:53 -04:00
  • ba38d9f321 Added depth/rgb registration option matlabbe 2021-06-10 11:07:25 -04:00
  • d7b5fa5d17 fixed android build matlabbe 2021-06-09 17:45:01 -04:00
  • 766301b175 fixed desktop build matlabbe 2021-06-09 11:25:01 -04:00
  • f6779c0994 Update index.md matlabbe 2021-06-09 09:45:39 -04:00
  • 2b2a149cdb Update index.md matlabbe 2021-06-09 09:32:34 -04:00
  • 289d4afd76 ios first release matlabbe 2021-06-08 00:06:49 -04:00
  • 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. matlabbe 2021-06-01 14:33:17 -04:00
  • 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) matlabbe 2021-06-01 11:40:46 -04:00
  • c9dbe6205d Docker: added nvidia drvier embedding examples for convenience matlabbe 2021-05-30 14:21:17 -04:00
  • f94f9cbb9b improve flood fill and move it to update function (#727)
    chameau5050MarcLeclercGitmatlabbe
         2021-05-30 10:12:07 -04:00
  • b7c2f6801b unknownSpaceFilled: refactored approach to fix the case of 360 scan with first ray y>=0 (turtlebot3 sim). matlabbe 2021-05-27 18:19:34 -04:00
  • 8b1b874bf3 Statistics: added LoopOptimization_max_ang_error stats matlabbe 2021-05-27 13:00:29 -04:00
  • 127a41a53e MainWindow::createCamera() fixed parameters not passed by reference matlabbe 2021-05-26 21:13:14 -04:00
  • c1492533c3 OctoMap: fixed empty cells not all added to global occupancy grid matlabbe 2021-05-26 16:27:49 -04:00
  • 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). matlabbe 2021-05-26 13:40:46 -04:00
  • 21dbeed4b7 Odom sensor option (#726) matlabbe 2021-05-23 17:21:12 -04:00
  • fe896260c5 commonFiltering(): warn when normals could not be computed (returned all NaNs) 0.20.10-noetic matlabbe 2021-05-16 11:58:17 -04:00
  • 56bc15d7cd MainWindow: fixed bg color not shown on loop closures when only scans are used. matlabbe 2021-05-16 11:15:05 -04:00
  • e9d7fcd7ae Vtk9 support (#722) matlabbe 2021-05-15 19:43:47 -04:00
  • 8c336e1e39 Voxel filter: added support for very large clouds. Gui/Export: added footprint filtering option. Moved all filtering options under Cloud Filtering group. matlabbe 2021-05-14 21:02:09 -04:00
  • 4390cb6428 calibration tool: added RealSense2 T265 support matlabbe 2021-05-12 18:31:41 -04:00
  • 20c2e8b5be Docker: updated libpointmatcher version in bionic/focal images (https://github.com/introlab/rtabmap/issues/720) matlabbe 2021-05-12 14:01:26 -04:00
  • ad8b2301d8 Docker/focal: fixed alicevision patch corrupted (no newline) matlabbe 2021-05-12 11:27:26 -04:00
  • d75f9524f3 Export: added --texture_depth_error option matlabbe 2021-05-12 10:56:16 -04:00
  • aedc70218b Docker: added AliceVision dependency to focal image matlabbe 2021-05-12 10:38:37 -04:00
  • a11492943a Export CLI: added print info for coloring mesh step matlabbe 2021-05-10 15:19:48 -04:00
  • 854a52c6a5 Export CLI: added noise_radius and noise_k options to filter noise matlabbe 2021-05-10 14:45:35 -04:00
  • b4f11e18f3 add flood fill filter (#714) chameau5050andMarcLeclercGit 2021-05-07 17:05:01 -04:00
  • 6449302318 appveyor: added opencv 4.5.0 binaries with opencv_contrib matlabbe 2021-05-02 21:41:48 -04:00
  • 3623ede989 Update .appveyor.yml matlabbe 2021-05-02 20:37:45 -04:00
  • 0e051a16a0 Update .appveyor.yml matlabbe 2021-05-02 20:00:16 -04:00
  • c88e3d0a8b Update .appveyor.yml matlabbe 2021-05-02 19:55:57 -04:00
  • ff956a725e Fixed "localization won't be corrected with gravity" warning in localization mode and imu data are not used (while Optimizer/GravitySigma>0) matlabbe 2021-05-02 19:42:59 -04:00
  • 40ab98a814 docker-focal: cleanup downloaded k4a binaries matlabbe 2021-05-02 13:30:57 -04:00
  • f02efb5836 docker-focal: added libfreenect2, k4a, realsense2, zed open capture support (#673) matlabbe 2021-05-02 13:17:53 -04:00
  • 0764999f22 Fixed focal docker image with gtsam (#673) matlabbe 2021-05-02 11:59:36 -04:00
  • 51c8d6fcb3 Update index.md matlabbe 2021-04-26 23:48:04 -04:00
  • d53550d263 Update index.md matlabbe 2021-04-26 23:46:57 -04:00
  • 7515556444 Update LICENSE matlabbe 2021-04-23 20:42:39 -04:00
  • 3b7c6cd1f4 DBViewer: added camera projection on scan option (GUI params). Fixed some deprecated warnings. matlabbe 2021-04-19 18:14:20 -04:00
  • 93bfad626e Update .travis.yml matlabbe 2021-04-14 13:12:31 -04:00
  • 2fcef88016 Export: added --poses_format option (default 10=RGBD-SLAM format). Added new pose format 11=RGBD-SLAM + ID. matlabbe 2021-04-13 15:49:04 -04:00
  • f4207979ad Export: fixed calibration not exported if camera name is not set. For multi-camera, added index suffix to yaml. matlabbe 2021-04-09 16:20:08 -04:00
  • b92f55be43 Export tool: added multi-camera support when exporting camera poses matlabbe 2021-04-08 10:23:38 -04:00
  • a8f0abf892 MainWindow::processOdometry() rectify images if Rtabmap/ImagesAlreadyRectified is false. matlabbe 2021-04-02 19:06:03 -04:00
  • 54267b1b33 Preferences: fixed backward compatibility error "Conversion failed from true for parameter Icp/Strategy" when loading old database with Icp/PM matlabbe 2021-03-31 12:02:56 -04:00
  • 4c1e72d82e Added OpenVINS minimal support (tested with EuRoC dataset) matlabbe 2021-03-28 23:51:02 -04:00
  • a58ec494d1 icpCC: when force3DoF is true, set z to 0 in data conversion 0.20.9-noetic 0.20.9-melodic matlabbe 2021-03-28 09:28:55 -04:00
  • 69735b6271 Added removeNaNFromPointCloud for PCLPointCloud2 type matlabbe 2021-03-28 00:15:47 -04:00
  • d002711f21 reprocess tool: Updated usage description to upgrade db version matlabbe 2021-03-27 16:21:52 -04:00
  • 06e85e140c Refactored RegistrationIcp: libpointmatcher yaml config usage / integrated CCCoreLib (#704) matlabbe 2021-03-27 15:11:20 -04:00
  • c4d127cae4 Export: added more options for pose format and image file name. matlabbe 2021-03-21 19:05:24 -04:00
  • 21737f9937 Added description fo RGBD/Enabled parameter matlabbe 2021-03-17 23:58:12 -04:00
  • ccc519ec58 Export: added --output name option. matlabbe 2021-03-13 20:58:10 -05:00
  • 1e4b172a7d Export: added poisson polygon size option matlabbe 2021-03-13 19:01:09 -05:00
  • 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. matlabbe 2021-03-13 18:42:13 -05:00
  • f6e17be2b4 Added ViewPlane XY, XZ and YZ options to GraphViewer Parameter RGBD/SavedLocalizationIgnored now called RGBD/StartAtOrigin (updated description, used only in localization mode) IcpReg: if Force4DoF, set lower covariance values for roll and pitch DbViewer: updated detectMoreLoopClosures with new minRadius option and update optimized poses between each new accepted loop closures. MainWindow: suppressed warning if depth image is not found in current node data (when rgb is). 3D Map view: changed default map point size to 1 (was 2) matlabbe 2021-03-12 17:47:36 -05:00
  • da2e2f810c Updated images matlabbe 2021-03-09 17:48:40 -05:00
  • 5b44c557b3 Update README.md matlabbe 2021-03-09 17:44:39 -05:00
  • 600d68932d updated images matlabbe 2021-03-09 17:43:27 -05:00
  • 800d087b07 Added archive directory to put paper related scripts matlabbe 2021-03-09 17:08:42 -05:00
  • db43479e44 Added ORB_SLAM3 support. IMU Filter: added base frame conversion option. (#698) matlabbe 2021-03-09 16:00:41 -05:00
  • 736c8aceae Export tool: show an error if file doesn't exist matlabbe 2021-03-09 14:06:33 -05:00
  • 351c659beb Integrated DepthAI (gen2) (#696) matlabbe 2021-03-07 12:27:21 -05:00
  • ab8f0e2b34 Fixed #695 (footprint not cleared correctly when GridGlobal/OccupancyThr>0) matlabbe 2021-03-05 18:35:49 -05:00
  • 4f46d8e904 Updated some RGBD/Proximity**** parameter descriptions. Added parameter RGBD/LoopClosureIdentityGuess. Fixed local map cleared in localization when RGBD/SavedLocalizationIgnored is true (should then assume it is starting from origin). matlabbe 2021-03-04 11:26:35 -05:00