 matlabbe
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80d9e1fb5f
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reverted fa53c7c000
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2022-05-03 21:50:56 -04:00 |
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matlabbe
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547f285448
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point_cloud_xyz[rgb]: Fixed roi ratios when camera_info is not the same resolution than depth image.
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2022-03-07 17:51:41 -05:00 |
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matlabbe
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0325a87bca
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pointcloud_to_depthimage: republish camera_info in output image namespace
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2022-03-06 17:59:43 -05:00 |
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matlabbe
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ec9d32bebd
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pointcloud_to_depthimage: republish scaled camera_info in case decimation parameter has been used.
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2022-03-06 17:48:47 -05:00 |
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matlabbe
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05a1be02a4
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rgbd_odometry: added rgbd_images topic support
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2022-03-06 15:43:48 -05:00 |
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matlabbe
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07bf207ec3
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Added approx_sync_max_interval parameter to odometry and sync nodes.
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2022-03-04 18:01:20 -05:00 |
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matlabbe
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fa53c7c000
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CoreWrapper: forward odom twist to rtabmap library
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2022-02-20 18:07:49 -05:00 |
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matlabbe
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540b58648f
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aggregator: added xyz_output option to be able to concatenate topics with different number of fields.
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2022-02-14 12:47:22 -05:00 |
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matlabbe
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0503f1a1f6
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icp_odometry: Fixed Icp/PointToPlaneK and Icp/PointPlaneRadius not updated when using directly scan_normal_k and scan_normal_radius.
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2021-12-30 14:58:25 -05:00 |
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matlabbe
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8a75963739
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stereo_odometry: for rgbd_image input, make sure all image data are copied in callback.
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2021-11-24 10:02:45 -05:00 |
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matlabbe
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eb297e147f
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Fixed OctoMap cmpil error when rtabmap is not built with OctoMap dep (https://github.com/introlab/rtabmap/issues/759#issuecomment-948766713). stereo_odometry: added check for identity stereo transform (same frame used for left and right).
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2021-10-21 15:25:44 -04:00 |
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matlabbe
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6ac2dcd918
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Fixed rgbd_image/scan_descriptor not subscribing at the same time. point_cloud_xyzrgb: added RGBA8 encoding support for stereo images.
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2021-10-06 09:59:15 -04:00 |
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matlabbe
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2c144400ed
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Merge pull request #649 from nobleo/fix/point_cloud_aggregator
[point_cloud_aggregator] pointrow_step of tmp_output should depend on size of tmp_output
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2021-09-27 19:30:33 -04:00 |
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matlabbe
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fd0eb4f62c
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OdomInfo msg: changed type of localScanMap (to fix long compression issue). Updated test_velodyne.launch to make floam working with kitti bags
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2021-09-24 11:34:23 -04:00 |
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Tim Clephas
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5a975e7cc1
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row_step of tmp_output should depend on size of tmp_output
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2021-09-22 19:50:29 +02:00 |
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Rui P. Figueiredo
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1e4ce5820e
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Merge pull request #2 from ruipimentelfigueiredo/melodic-devel
Melodic devel
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2021-09-19 11:58:12 +02:00 |
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matlabbe
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cfff133ee8
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point_cloud_assembler: use rtabmap voxel filter (at cost of having to convert 2 times the assembled cloud) if there is an integer overflow
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2021-08-31 15:54:07 -04:00 |
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matlabbe
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523b001ca3
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Added RGBDImages msg. Added rgbdx_sync to sync up to 8 cameras. For rtabmap node, rgbd_cameras=0 means subscribing to a rgbd_images topic (containing N cameras).
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2021-08-02 17:47:30 -04:00 |
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ruipimentelfigueiredo
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f1ef801df2
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bug fix
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2021-07-08 17:01:44 +02:00 |
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ruipimentelfigueiredo
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9a004836b0
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added support for 5 camera odometry
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2021-07-08 16:14:15 +02:00 |
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matlabbe
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35f31634a6
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point_cloud_assembler: added remove_z option to remove z field from output assembled cloud (for convenience when assembling 2D clouds).
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2021-06-27 22:57:51 -04:00 |
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matlabbe
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ed2451c351
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point_cloud_assembler: added linear_update and angular_update parameters. Demo robot: increased icp correspondence distance to 0.15 (fixed proximity icp not converging enough)
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2021-06-27 10:07:19 -04:00 |
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matlabbe
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cbe1d8ccff
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Removed modulo RGB vs Depth size (#584), as now supported from rtabmap library since https://github.com/introlab/rtabmap/pull/534
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2021-05-24 10:14:02 -04:00 |
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matlabbe
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23c06875b9
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Added stereo support for TYPE_8UC1 encoding and "Kannala Brandt4" (fisheye) distortion model (OpenLORIS).
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2021-04-02 19:08:58 -04:00 |
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matlabbe
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56e1d6335e
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Fixed point_cloud_aggregator output cloud's step_row
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2021-03-31 10:17:44 -04:00 |
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matlabbe
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7ab760f9e5
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point_cloud_assembler: fixed output cloud format when input is organized clouds (#560)
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2021-03-28 00:17:53 -04:00 |
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matlabbe
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b9c7efdc8a
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Added assert on PointCloud2 format (#560). rtabmap.launch: added gdb option for convenience.
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2021-03-27 21:51:06 -04:00 |
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matlabbe
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6e34cde8e6
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Updated demo_hector_mapping.launch with max_range, pm and p2n options. Odometry: added postProcessData() function (used by icp_odometry to republish filtered scan after odometry processing)
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2021-03-20 19:59:38 -04:00 |
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matlabbe
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e9e140af1f
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CoreWrapper: 2d optimized map should not be loaded in SLAM mode (see also https://github.com/introlab/rtabmap/commit/f6e17be2b4196d588305fe20e080406a4841983a).
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2021-03-12 17:50:40 -05:00 |
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matlabbe
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4af79a0157
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Fixed #546
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2021-02-24 11:42:56 -05:00 |
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matlabbe
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1f5239245c
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Updated with latest rtabmap changes.
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2021-02-07 17:28:43 -05:00 |
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matlabbe
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ea2f14a661
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rgbd_relay: fixed input features not copied to output
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2021-01-09 20:05:47 -05:00 |
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matlabbe
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ada3e7082c
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Increased minimum rtabmap version to 0.20.7. Updated OdomInfo msg with localScanMapFormat (fixed intensity channel wrongly converted to rgb). rtabmap.launch: Show in rviz filtered scan from odometry if icp_odometry is true. rtabmapviz: fixed hanging shutdown after a ctr-c. OdometryROS: can now publish local scan map with intensity channel. icp_odometry: fixed intensity ignored if voxel size is set.
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2020-11-28 17:28:45 -05:00 |
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matlabbe
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371a826109
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icp_odometry: added error log if both scan and cloud subscribers are used
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2020-11-25 22:05:04 -05:00 |
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matlabbe
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c20e38b11e
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Added support to use local keypoints and descriptors from RGBDImage. OdometryROS: added new output topic odom_rgbd_image with features extracted.
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2020-11-05 16:38:08 -05:00 |
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matlabbe
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646ad6ee7b
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Added rgb_sync nodelet. Added sync rgbd5 and rgbd6 callbacks. Removed OdomInfo from sync callbacks having both camera and lidar. Added BAYER_RGGB8 support. point_cloud_assembler: added output frame_id option.
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2020-11-03 16:18:40 -05:00 |
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matlabbe
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10ed0109b8
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stereo_odometry: added baseline=0 workaround for rgbd_image input
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2020-10-12 16:09:30 -04:00 |
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matlabbe
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ae854dfb4c
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OdometryROS: refactored imu sync (#331). Using tf to compute baseline if Rtabmap/ImagesAlreadyRectified is true (for convenience with realsense rectified IR images but right camera info Tx not set)
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2020-07-30 12:43:44 -04:00 |
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matlabbe
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c3c76a8bd3
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fixed #436
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2020-07-07 13:55:42 -04:00 |
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matlabbe
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9ef1c1a609
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For synchronization warning, split topic with backslashes instead of commas for convenience (to easily copy/paste listed topics to "rostopic hz" for example)
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2020-06-25 15:34:45 -04:00 |
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matlabbe
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a91e3687ba
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PointCloudAssembler: added noise filtering options. Added test_ouster_gen2.launch example
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2020-06-22 10:02:57 -04:00 |
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matlabbe
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1db46ea75b
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Fixed PCL 1.10 deprecated warnings
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2020-05-27 17:55:38 -04:00 |
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matlabbe
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0a127e629a
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Fixed missing intensity field warning when converting laser scans without intensities. Updated default GUI ini file.
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2020-05-26 23:09:58 -04:00 |
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matlabbe
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2349c6b11e
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icp_odometry: fixed scan conversion with intensity (#412)
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2020-05-25 20:10:05 -04:00 |
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matlabbe
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7e283f9f1d
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Increased required rtabmap version to 0.20. Added ScanDescriptor and GlobalDescriptor msgs. rtabmap: added subscribe_scan_descriptor argument (updated common subscribers). RGBDImage.msg: added local keypoints, local points, local descriptors and global descriptor members. Info.msg: added wmState member.
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2020-05-03 22:42:01 -04:00 |
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matlabbe
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dff012718e
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rtabmap.launch: added scan_cloud_assembling option
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2020-04-19 09:53:09 -04:00 |
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matlabbe
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9aa3854f8b
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rgbd_sync: added decimation option. #393
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2020-04-18 14:26:04 -04:00 |
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matlabbe
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e641960450
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point_cloud_assembler: optimized time to assemble final cloud, added circular_buffer option.
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2020-04-13 19:11:41 -04:00 |
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matlabbe
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aced8a8c93
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MsgConversion/laser: check if intensity field has the supported datatype before converting. PointCloud2Depth: added {cloud}_transformed output topic (with same stamp and frame_id than the depth image).
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2020-03-24 17:40:06 -04:00 |
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matlabbe
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3207b412ce
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imu_to_tf: fixed tf orientation if there is a rotation between base frame and imu frame. OdometryROS: fixed rotation imu init when there is a rotation between imu and base frame
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2020-02-25 10:55:28 -05:00 |
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