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3,665 Commits 29 Branches 163 Tags
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2059 Commits

Author SHA1 Message Date
matlabbe
510aef19e4 Added Vis/PnPSplitLinearCovComponents parameter (default false -> same as before) 2024-02-07 14:43:16 -08:00
matlabbe
b2a86d640a Fixed zed build errors (windows, #1207) 2024-01-31 07:17:04 -08:00
matlabbe
c27507bc77 Added missing Open3D status in --version and About. 2024-01-27 15:20:10 -08:00
Borong Yuan
dcd5994456 support color histogram equalization (#1203) 2024-01-21 12:38:34 -08:00
matlabbe
13cd5e7a5e Export Poses: Added support of landmarks. Fixed g2o export with 6DoF landmark constaints. Adjusted g2o export landmark id. (#1199) 2024-01-20 12:04:26 -08:00
matlabbe
b7239fdc84 Added parameter Mem/RotateImagesUpsideUp 2024-01-10 14:54:55 -08:00
Borong Yuan
096592e4fc reimplement NMS using morphological operations (#1192) 2024-01-02 15:38:39 -08:00
matlabbe
d135ef02e2 DBViewer: updated refine constraints menu action with more options, DBDriver: added updateCalibration for convenience 2023-12-20 14:39:49 -08:00
matlabbe
71415992ac GridMap integration (#1180) 
* GridMap integration

* Removed GridGlobal/FullUpdate parameter. Bump version 0.21.3. Mvoed specialized global map classes under global_map sub dir. Renamed Map -> GlobalMap.

* UI: Added elevation map visualization

* Added LocalGridCache class to share cache between global maps

* Fixed OctoMap nans. DbViewer: Added frontiers visualization.

* convenient functions for ros

* Small fix

* fixed build without GridMap

* CI disabled fail-fast

* CI updated checkout action to v4
 2023-12-17 22:44:11 -08:00
Borong Yuan
45392fcfc6 Add RGBD mode for OAK camera (#1179) 
* update depthai params

* add color+depth mode

* workarounds to avoid performance issues
 2023-12-14 09:59:35 -08:00
matlabbe
be3e6c538c Adding util3d::cloudsFromSensorData to be able to show in DBViewer individual clouds for each camera (#1182) 
* splitting multicam generated clouds

* make sure returned cloud is valid (can be empty)
 2023-12-13 12:15:29 -08:00
Borong Yuan
0876603325 improve NMS implementation (#1173) 2023-11-28 13:36:28 -08:00
matlabbe
3a7f88dc6c Updated error log that should not show up if Optimizer/Robust is true (#1172) 2023-11-28 13:29:33 -08:00
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
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
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
97f2b4b65d Fixed autogen cmake warnings. Fixed pytorch requiring c++17. 2023-09-16 14:26:17 -07:00
matlabbe
2d7d0ec424 Fixed backward compatibility (xenial) from #1117 2023-09-05 08:51:57 -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
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
matlabbe
cdd8cd9e34 ICP/intensity: Applying fix from #1111 2023-08-13 14:58:15 -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
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
matlabbe
3feb03cf35 Added Vis/PnPSamplingPolicy parameter (opengv "multi" ransac) 2023-07-22 11:05:21 -04:00
matlabbe
a593b0d525 Merge branch 'guoqingz/multi_noncentral' of https://github.com/guoqingzh/rtabmap into guoqingzh-guoqingz/multi_noncentral 2023-07-21 11:35:26 -04:00
matlabbe
e8b54de94a CameraDepthAi: Fixed buffered frames 2023-07-21 09:10:06 -04:00
Borong Yuan
f9719c197d disparityToDepthUseSpecTranslation is enabled by default as recommended 2023-07-20 00:28:36 +08:00
Borong Yuan
d391f237eb update imu callback 2023-07-17 23:35:03 +08:00
Borong Yuan
0b4f5d2925 remove unnecessary conversion function 2023-07-17 17:00:43 +08:00
Borong Yuan
7d2272beb3 fix ProtocolToStr() visibility 2023-07-17 10:09:49 +08:00