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  • 98c69c4578 Fixed Force4DoF param not used exception on older libpointmatcher versions matlabbe 2021-03-02 17:27:25 -05:00
  • 4e4207a6dd CMake: updated to support latest g2oConfig.cmake (using targets) matlabbe 2021-03-02 18:17:09 +00:00
  • 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. matlabbe 2021-03-01 19:27:24 -05:00
  • f7bc47572b Parameters: Icp/VoxelSize default updated from 0 to 0.05 matlabbe 2021-03-01 11:22:40 -05:00
  • d119487dd7 Coloring scan (camera projection on point cloud) (#693) matlabbe 2021-03-01 09:56:37 -05:00
  • 967c57d165 Added CameraStereoZedOC (Zed Open Capture driver). matlabbe 2021-02-28 10:31:18 -05:00
  • 862eb0a90a CameraStereoVideo: added resolution options for usb camera matlabbe 2021-02-25 22:22:44 -05:00
  • cad184e82b Added Icp/PMForce4DoF parameter (works only with libpointmatcher > April 2020). Fixed some deprecated warnings. matlabbe 2021-02-24 09:43:22 -05:00
  • d61e463595 Updated About dialog with opencv license matlabbe 2021-02-21 13:59:36 -05:00
  • 5cdb346a35 Updated opencv license to Apache2 when version >= 4.5 matlabbe 2021-02-21 13:03:19 -05:00
  • 8696a38343 Added parameter GridGlobal/AltitudeDelta matlabbe 2021-02-21 13:00:16 -05:00
  • e59aad03ed Fixed android build with latest laserScanFromPointCloud changes matlabbe 2021-02-19 14:25:34 +00:00
  • 9bf12742b1 fixed #688 matlabbe 2021-02-18 21:04:00 -05:00
  • bb7e9edb9b Fixed create2DMap assert on 32FC2 when subscribing 2D scans with intensity. LaserScan: fixed assert when angle_min > angle_max (with angle_increment < 0) matlabbe 2021-02-16 10:47:31 -05:00
  • 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. matlabbe 2021-02-12 18:40:40 -05:00
  • 03cfaf2063 DBViewer: Added option to export odometry poses matlabbe 2021-02-12 11:22:02 -05:00
  • 089441a496 Fixed loadScan return 2D cloud for organized PCD matlabbe 2021-02-10 21:35:09 -05:00
  • 481a140f84 util3d: Refactored laserScanFromPointCloud() functions to return LaserScan with correct format instead of cv::Mat. matlabbe 2021-02-07 17:27:55 -05:00
  • c42a4e3d7e Fixed assert when loading database having optimized poses different from the working memory (force re-update graph in this case). matlabbe 2021-02-06 15:10:18 -05:00
  • 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. matlabbe 2021-02-02 09:36:12 -05:00
  • 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. matlabbe 2021-02-01 11:31:45 -05:00
  • 6b119c1f90 Camera test view: show intensity/rgb/normals if input scans have them matlabbe 2021-01-25 17:16:46 -05:00
  • 7e298e1999 CameraImages: timestamp file is optional for pose format containing stamp matlabbe 2021-01-25 13:21:39 -05:00
  • c9472962d7 bumpt 0.20.9 version matlabbe 2021-01-24 13:48:05 -05:00
  • 4d75361fe0 CameraImages: support scan only dataset. matlabbe 2021-01-24 13:21:30 -05:00
  • e99c658276 fixed scan-only nodes wrongly set as intermediate nodes by default matlabbe 2021-01-24 11:35:48 -05:00
  • 57326214f1 Fixed texture projection when fx!=fy, cx!=w/2 or cy!=h/2 matlabbe 2021-01-24 10:39:36 -05:00
  • 47e40ef34d MainWindow: add fake frustum when only lidar is received matlabbe 2021-01-22 12:51:47 -05:00
  • aa31a900fb fixed trusty build (#682) matlabbe 2021-01-20 22:54:48 -05:00
  • 28e624e6b2 fixed g2o build with c++14 #681 matlabbe 2021-01-20 10:45:45 -05:00
  • 731b073ed8 Cleanup ObjDeletionHandler not used. Zed: fixed assert "qual >= sl::DEPTH_MODE::NONE && qual < sl::DEPTH_MODE::LAST" with latest sdk. matlabbe 2021-01-19 17:24:38 -05:00
  • 5d777469ff CameraRealSense2: refactored for freezing/crash issues on stop 0.20.8 matlabbe 2021-01-18 14:58:33 -05:00
  • 70e9dff7da L515: downscale depth image if it has been upscaled during registration, fixed depth not correctly scaled in IR mode matlabbe 2021-01-18 11:33:10 -05:00
  • 814a243693 Add boost link dir on Windows #678 matlabbe 2021-01-17 15:06:47 -05:00
  • c49785061f Added PyDetector (#677) matlabbe 2021-01-17 01:56:27 -05:00
  • 0bc483b6d3 Added pdal optional dependency (export to LAS, E57, ...) matlabbe 2021-01-14 15:49:18 -05:00
  • eae5f2b428 fixed #674 matlabbe 2021-01-11 11:38:31 -05:00
  • 94cf1dfd32 Fixed zero-ed 3D words when receiving odometry's 2D keypoints > Kp/MaxFeatures and empty 3D points matlabbe 2021-01-09 20:52:34 -05:00
  • 7fd8fc4675 Update index.md matlabbe 2021-01-09 16:25:36 -05:00
  • 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). matlabbe 2021-01-08 13:04:24 -05:00
  • 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). matlabbe 2021-01-08 01:10:23 -05:00
  • 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). matlabbe 2021-01-07 23:51:06 -05:00
  • f1993d9cd7 android: fixed z-fighting on some android devices matlabbe 2021-01-02 18:14:55 -05:00
  • da99d7e4a0 disabled osx travis build (too long to do) matlabbe 2020-12-20 00:07:34 -05:00
  • e896ffb5c0 Update .travis.yml matlabbe 2020-12-19 23:16:28 -05:00
  • 04cbf56cc0 Update .travis.yml matlabbe 2020-12-19 22:37:13 -05:00
  • c5051bf82a Update .travis.yml matlabbe 2020-12-19 21:38:13 -05:00
  • 7a9f01b9a3 Update .travis.yml matlabbe 2020-12-19 12:55:12 -05:00
  • 70094edb75 Update .travis.yml matlabbe 2020-12-19 12:38:36 -05:00
  • eb2af19a89 Update .travis.yml matlabbe 2020-12-19 12:28:02 -05:00
  • af227bad51 Update .travis.yml matlabbe 2020-12-19 12:21:25 -05:00
  • ee63ce338a Update .travis.yml matlabbe 2020-12-19 12:11:19 -05:00
  • 1b3a6abb82 Update .travis.yml matlabbe 2020-12-19 11:48:06 -05:00
  • 4a8a20c7d1 Update .travis.yml matlabbe 2020-12-19 11:24:19 -05:00
  • a125797e50 Update .travis.yml matlabbe 2020-12-19 11:18:20 -05:00
  • a6f0877045 Parameters: added Rtabmap/ImagesAlreadyRectified to odometry parameters (to be shown with --params) matlabbe 2020-12-18 17:57:43 -05:00
  • b5cae38eb9 Fixed -lBoost:timer not defined when building with latest GTSAM binaries matlabbe 2020-12-18 17:01:11 -05:00
  • d8ebbc2645 CameraK4A: rectifying color image (this improves a lot visual odometry accuracy) 0.20.7 matlabbe 2020-12-13 15:27:17 -05:00
  • d700d09339 DataRecorder tool: interface changed to use config file (#661) matlabbe 2020-12-13 12:42:58 -05:00
  • 26e200acf8 Update index.md matlabbe 2020-12-13 11:24:55 -05:00
  • 3104dff006 Update README.md matlabbe 2020-12-13 11:10:22 -05:00
  • 839045a538 package.xml: 0.20.7 0.20.7-noetic 0.20.7-melodic 0.20.7-kinetic kinetic-devel matlabbe 2020-12-12 19:05:06 -05:00
  • a824945816 package.xml: removed libvtk-qt as there are conflicts on noetic with libpcl-dev (which is using vtk7) matlabbe 2020-12-12 17:32:30 -05:00
  • 1acf8ff193 RegIcp: don't assert if normals cannot be computed properly before doing complexity check, just reject the transform matlabbe 2020-12-12 16:53:07 -05:00
  • 51826c9a97 RegIcp: fixed KDTreeMatcherIntensity build error on Mac. matlabbe 2020-12-11 17:22:29 -05:00
  • 7a5d04062d vtk8: disabled vtkOutputWindow matlabbe 2020-12-11 17:05:37 -05:00
  • 049238dd59 Gui: added L515 icon matlabbe 2020-12-11 09:56:17 -05:00
  • 3271723034 superpoint, fixing slow convert after cnn (#659) 42Max42 2020-12-11 15:27:18 +01:00
  • da8e76ffed rtabmap-matcher: added --calibration_to option (to use a different calibration file for the second image). matlabbe 2020-12-05 13:21:58 -05:00
  • 3131474102 Added Db/TargetVersion parameter (#652) matlabbe 2020-12-03 15:45:40 -05:00
  • 3ffc8ce73f DBViewer: enabled Reject button on landmark links matlabbe 2020-11-30 23:17:47 -05:00
  • ee44adeb1f fixed #648 (build error without OctoMap dependency) matlabbe 2020-11-30 12:33:08 -05:00
  • 96c1c81e22 fixed build with older libpointmatcher versions <10300 matlabbe 2020-11-29 19:30:30 -05:00
  • 0022b6b993 ExportCloudsDialog: added colormap option when showing scans matlabbe 2020-11-28 18:02:54 -05:00
  • 721e046f5d fixed build matlabbe 2020-11-28 17:36:42 -05:00
  • d733029565 Increased version to 0.20.7. OdometryF2M: added support for intensity field, removed ignored key frames when there is low scan complexity. RegistrationIcp: added Icp/PMMatcherIntensity, Icp/PointToPlaneGroundNormalsUp and Icp/PointToPlaneLowComplexityStrategy parameters. Rtabmap: when graph optimized from end, increased optimization error before warning that resulting map correction is not identity (this could happen with GTSAM as the root is not perfectly fixed). CloudViewer: added coordinate frame scaling option, added rainbow colormap option for scan intensity. DBViewer: fixed local proximity merged scans not shown modified after refining those links, show intensity, fixed constraints view not updated after rejecting a link. MainWindow: added intesity support with odometry scans. matlabbe 2020-11-28 17:28:34 -05:00
  • 7859313beb AppVeyor: updated realsense2 sdk to 2.40. CameraRealSense2: When GlobalTimeSync option is off, don't wait 35 ms for imu (and fails), just take the latest one directly (https://github.com/introlab/rtabmap/issues/614#issuecomment-732244439). matlabbe 2020-11-23 11:36:27 -05:00
  • 80199f23b5 RegIcp: complexity, checking if second eigen value is also under Icp/PointToPlaneMinComplexity to limit to only one axis. DbViewer: fixed refine link with scans having RGB channel. matlabbe 2020-11-22 19:32:01 -05:00
  • bce7ae6acd Fixed GTSAM reference frame yaw drift over time when gravity links are used matlabbe 2020-11-22 16:40:30 -05:00
  • f88845e138 fixed #643 matlabbe 2020-11-22 14:29:05 -05:00
  • bdc7be40b4 Fix for previous commit https://github.com/introlab/rtabmap/commit/e4cb59b74d69887fd67700420d408db5a6850663 (otherwise imu are ignored if globalTimeSync is off) matlabbe 2020-11-22 12:38:21 -05:00
  • e4cb59b74d Added suggestion from https://github.com/introlab/rtabmap/issues/614#issuecomment-731769818 matlabbe 2020-11-22 12:32:39 -05:00
  • dab407e5b9 fixed https://github.com/introlab/rtabmap/commit/ad44b65a28c0bb16add80a3d0afb9c721f84ba68#commitcomment-44427459 matlabbe 2020-11-22 11:10:35 -05:00
  • 98a499b603 Optimizer: fall back on g2o or gtsam first if one or the other is not available (instead of going TORO). ExportClouds: added ceiling and floor filtering options. matlabbe 2020-11-22 01:23:08 -05:00
  • f5d7dc2814 PreferencesDialog: Added Marker/MaxRange and Marker/MinRange parameters to UI. matlabbe 2020-11-21 17:23:41 -05:00
  • ab1aa5578a Fixed build matlabbe 2020-11-21 17:12:09 -05:00
  • ccbdb586da DbViewer: Added datbabase path to window title matlabbe 2020-11-21 16:37:40 -05:00
  • f467f2af7f Added Marker/MaxRange and Marker/MinRange parameters (#630)
    David MolinaJohn Paul SolivaTim Fronsee
         2020-11-22 06:18:22 +09:00
  • 7c4d2bbdf4 DbViewer: before resetting all changes, added a confirmation message box! matlabbe 2020-11-21 16:15:27 -05:00
  • fb206b4f1e DbViewer: fixed scan disappearing after editing constraint matlabbe 2020-11-21 14:35:29 -05:00
  • ddecefbb9c 💄 matlabbe 2020-11-21 12:34:17 -05:00
  • ad44b65a28 Allow partial support for AliceVision v2.3.0 (see #564 for remaining issues) matlabbe 2020-11-20 13:42:56 -05:00
  • fdaaa6ccfa Fixed bug L500 gyro/acc not detected (#629) matlabbe 2020-11-19 13:49:10 -05:00
  • 34e1af7e22 RealSense2: added error message for L515 if resolution is not 640x480 30 fps (#629) matlabbe 2020-11-19 10:36:08 -05:00
  • 54e2688a1d Fixed build with pcl > 1.11.1 (#641) matlabbe 2020-11-14 16:52:01 -05:00
  • f9abcf9e35 fixed opencv2 build matlabbe 2020-11-14 14:41:37 -05:00
  • 01eb57f293 CameraImages: added configForEachFrame option (added to GUI too). CameraThread: for decimation, if depth is smaller than RGB, RGB is decimated first and if the resulting RGB image is smaller than the original depth, we then decimate the depth. matlabbe 2020-11-14 13:39:12 -05:00
  • 7be22d1b67 Added check to make sure input odometry poses are invertible. Source/DB: added stereo to depth option. matlabbe 2020-11-06 21:37:59 -05:00
  • 4b527f9c36 Update .appveyor.yml matlabbe 2020-11-06 18:56:32 -05:00
  • 4d965c2089 Update .appveyor.yml matlabbe 2020-11-06 18:18:06 -05:00