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07c24e95ba0808c30b98a9a960f7b1399af74899
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Author SHA1 Message Date
Borong Yuan
07c24e95ba start outputting data after static initialization (#1171) 
* start outputting data after static initialization

* restore pixel noise to 1
 2023-11-28 13:20:45 -08:00
matlabbe
7ab1ee0a0b Update docker.yml 2023-11-23 18:25:50 -08:00
matlabbe
fc8ead2237 Update docker.yml 2023-11-23 18:06:24 -08:00
matlabbe
a1d43d2353 Remove default AUTOUIC=ON from all non-ui targets. Fixed yaml target not added correctly on Vcpkg. Fixed gui odom processing time. 2023-11-19 19:40:20 -08:00
matlabbe
aaff1abc4f Updating orbslam3 v1 support (#1152) 
* Refactoring ORB_SLAM3 integration. Fixed realsense2 inter IMU stamps.

* Renamed OdometryORBSLAM -> OdometryORBSLAM2

* revert a change

* Fixed build without orb_slam

* Source camera: added feature detection option

* Fixed jfr2018 docker files
 2023-11-19 01:05:52 -08:00
matlabbe
9c56a429cc Localization: Refactored getConnectedGraph() for 2d slam and tags (https://github.com/introlab/rtabmap_ros/issues/1057). Transform: Fixed is3DoF() and is 4DoF() 2023-11-16 22:44:32 -08:00
Borong Yuan
757d3eb90b fix protocol detection for undiscoverable devices (#1159) 2023-11-15 19:50:07 -08:00
matlabbe
4812ce4eaf Optimizer: fixed some constraints between same nodes with different type ignored. GraphViewer: fixed display of links between same nodes with different type 2023-11-12 17:14:17 -08:00
matlabbe
56552afa6c Tuning localization priors (added RGBD/LocalizationPriorError parameter) (#1156) 
* tuning localization priors (for https://github.com/introlab/rtabmap_ros/issues/1057)

* Set prior error value to same than old default value
 2023-11-05 15:14:11 -08:00
Borong Yuan
45a3b59a23 transform features after source images decimation (#1154) 2023-11-02 08:10:02 -07:00
matlabbe
08d0ef7408 report: added --gt option to input external ground truth file. DBViewer: fixed crash when unchecking "Ignore intermediate nodes". 2023-10-27 17:10:10 -07:00
Borong Yuan
8da6ea1707 Add missing filterKeypointsByDepth step (#1150) 
* add missing filterKeypointsByDepth step

* Fix ORBOctree not using the depth mask

---------

Co-authored-by: matlabbe <matlabbe@gmail.com>
 2023-10-26 13:15:34 -07:00
matlabbe
64962e8e3d Added multicameras support for F2F odometry / OpticalFlow 2023-10-25 14:54:20 -07:00
matlabbe
71bb0cf226 ios/android: fixed database loading failing when one node doesn't have any depth or scan (#1147). 2023-10-21 14:52:29 -07:00
Borong Yuan
948e15c72c Supplement and Adjust OpenVINS Parameters (#1145) 
* set the PrintLevel of OpenVINS to be equivalent to that of ULogger

* use global FAST settings

* add online calibration params

* add dynamic initialization params

* add necessary feature initializer options

* fix segfault of OdomImageDecimation

* add mask settings

* use depth as mask in OpenVINS

* set twist covariance

* restore default values of VisMinDepth and VisMaxDepth
 2023-10-21 14:24:51 -07:00
Borong Yuan
f06cc0b17f OAK bug fixes and improvements (#1143) 
* *fix distortion correction problem of small FOV devices
*remove deprecated IMU firmware update API
*add useSpecTranslation option

* reduce depth image noise and simplify calculation for compressed transport
 2023-10-07 20:40:30 -07:00
Borong Yuan
2aa139b579 Update odometry info of OpenVINS (#1142) 
* add msckf features visualization

* fill localMap with active tracked features
 2023-10-07 20:36:00 -07:00
Borong Yuan
67c6a15b93 OpenVINS Update (#1107) 
* fix openvins build

* Add OpenVINS params to UI

* update OdometryOpenVINS implementation

* the pixel noise of most cameras should be less than 3 after factory calibration

* propagation and update are only performed after camera measurement feeding

* fix openvins feature reprojection
 2023-10-02 07:53:29 -07:00
matlabbe
78c029d833 fixed https://github.com/introlab/rtabmap_ros/issues/1038 2023-10-01 09:07:15 -07:00
Borong Yuan
afd10b1aa6 add histogram equalization (#1137) 2023-09-21 15:46:10 -07:00
matlabbe
f1cd819673 Fixed superglue deadlock on standalone (#896). Fixed some elemSize opencv asserts in debug build (876) 2023-09-17 01:19:59 -07:00
matlabbe
fb466a6a96 StereoBM/StereoSGBM: Thresholding output to zero when minDisparity is used 2023-09-16 17:43:00 -07:00
matlabbe
0b7181fc88 Updated minimum cmake version for https://github.com/introlab/rtabmap/pull/1135#issuecomment-1719701828 2023-09-16 16:32:21 -07:00
matlabbe
97f2b4b65d Fixed autogen cmake warnings. Fixed pytorch requiring c++17. 2023-09-16 14:26:17 -07:00
matlabbe
39dedba93a workflow: removing EOL xenial 2023-09-14 08:44:26 -07:00
cdb0y511
49daa211ea use CMAKE_AUTOUIC, CMAKE_AUTOMOC and CMAKE_AUTORCC (#1135) 2023-09-14 08:25:00 -07:00
matlabbe
01c2e70b11 rtabmap-info: added --dump ini option 2023-09-08 14:53:21 -07:00
matlabbe
fa4a2eb5e3 Fixed build on 22.04 caused by 9e86faa4ad 2023-09-07 10:29:18 -07:00
matlabbe
9e86faa4ad GraphView: added right-click option to export 2d grid map directly from the view 2023-09-07 09:10:04 -07:00
matlabbe
e31eec2c55 docker: fixed typo jammy-iron-deps 2023-09-05 09:07:16 -07:00
matlabbe
2d7d0ec424 Fixed backward compatibility (xenial) from #1117 2023-09-05 08:51:57 -07:00
matlabbe
191e4250ef docker: Fixing jammy-iron build without arm64 2023-09-04 17:18:43 -07:00
matlabbe
e56e0c37f7 Fixed https://github.com/introlab/rtabmap_ros/issues/1024 2023-09-04 11:55:52 -07:00
cdb0y511
6a5b844bac fix for Undefined symbols for architecture x86_64: "Nabo::NearestNeighbourSearch (#1117) 
related to https://github.com/ethz-asl/libpointmatcher/issues/514
employ fix from https://github.com/ethz-asl/libpointmatcher/pull/513
 2023-08-27 13:36:49 -07:00
matlabbe
20ad6cca2c ros2/iron docker: disabled arm64 build for now (arm64 binaries not available) 2023-08-27 13:35:27 -07:00
matlabbe
f90fede65c ci: added ros2 iron docker image 2023-08-27 12:38:24 -07:00
Borong Yuan
61dbe51ee3 Update OAK stereo config and IMU rate (#1116) 
* update OAK stereo config and imu rate

* enable brightness filter
 2023-08-19 16:29:05 -07:00
Pierre Wendling
f2687ed1ff CMake: Add compatibility for yaml-cpp 0.8.0. (#1115) 
- Upstream uses YAML_CPP_INCLUDE_DIR
- yaml-cpp 0.8.0 does not set YAML_CPP_LIBRARIES to the new target name.
- Debug builds of yaml-cpp suffix the library with `d`.
 2023-08-18 18:06:45 -07:00
matlabbe
cdd8cd9e34 ICP/intensity: Applying fix from #1111 2023-08-13 14:58:15 -07:00
matlabbe
6d36fc1fcd package.xml: Added ROS gtsam as dependency 2023-08-13 13:50:08 -07:00
matlabbe
ba5579f063 Only remove compressed raw data when publish data is false (keep features/occupancy grid) 2023-08-11 16:31:26 -07:00
matlabbe
6395487b58 Stats: distance from last localization not increasing if small motion 2023-08-10 15:17:15 -07:00
Borong Yuan
f0ba56bf5e fix ros gtsam 4.2a9 build (#1108) 2023-08-07 07:33:23 -07:00
matlabbe
a94a4c9802 adding ros2 iron CI / docker, fixing #1103 0.21.2-iron 2023-08-05 14:38:39 -07:00
matlabbe
e2f037189a git push origin masterMerge branch 'borongyuan-msckf_vio_update' 2023-07-30 12:15:03 -07:00
matlabbe
bcb29cfb66 msckf: backward compatibility update for euroc dataset evaluation 2023-07-30 12:14:35 -07:00
matlabbe
d25bb758ca Merge branch 'msckf_vio_update' of https://github.com/borongyuan/rtabmap into borongyuan-msckf_vio_update 2023-07-30 11:43:06 -07:00
matlabbe
424dc90dce Added Vis/PnPVarianceMedianRatio parameter (to tune pnp computed covariance) 2023-07-27 16:13:30 -07:00
Borong Yuan
5d6875ed98 change for initial frame update 2023-07-24 21:10:55 +08:00
Borong Yuan
f8b761d79b msckf_vio now supports c++14 2023-07-24 14:08:04 +08:00