i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity
3,381 Commits 29 Branches 163 Tags
0e85bd849c3a50d621ceccc81d8292a0d460d2e2
Commit Graph

1913 Commits

Author SHA1 Message Date
matlabbe
0e85bd849c Improved image view scene rect size when no images are there. Added warning when transform cannot be computed because some data are missing. 2024-09-16 15:55:38 -07:00
matlabbe
69ac21f811 Adding OpenCV's GPU GFTT/ OpticalFlow and CudaSift support (#1330) 
* Adding GFTT and SIFT Cuda support

* Working CudaSift

* Disable cudasift option when not available

* Added check to avoid re-allocating gpu memory everytime parseParameters is called. Added workaround of to detect/ignore invalid descriptors

* Added SIFT/PreciseUpscale and SIFT/Upscale parameters. Adjusted max octave to behave more like opencv

* Refactored how maximum features are thresholded, to be more similar to OpenCV version

* Updated loop closure benchmark scripts

* Cuda optical flow tmp commit

* Added Stereo/Gpu Vis/CorFlowGpu parameters (optical flow gpu integration for F2F odom and stereo correspondences)

* Fixed build without opencv cuda

* Fixed build with Opencv 4.10

* ZED: updated parameters to match zed sdk 4

* MRPT requires C++17

* updated max octave limit CudaSift
 2024-09-13 14:22:54 -07:00
matlabbe
11a8057246 LocalGrid: fixed overestimated local grid size when Grid/RangeMax is used 2024-09-04 11:39:38 -07:00
matlabbe
12e2caf7d1 removed debug comment 2024-09-01 15:39:01 -07:00
matlabbe
5580e78273 Fixed ZED driver timestamp. Re-ordered build include dirs to keep opencv in front. Fixed build with OpenCV 4.7.0. 2024-09-01 03:55:29 -07:00
matlabbe
4911dbe9bb With Mem/RotateImagesUpsideUp=true, do not clear features if none of the cameras are rotated. DBViewer: show local transform of all cameras in tooltip 2024-08-12 14:27:08 -07:00
matlabbe
cc5da376ec Fixed https://github.com/introlab/rtabmap_ros/issues/1187 2024-07-27 12:12:49 -07:00
matlabbe
f5a477f0f4 Charuco calibration + depthai calibration support (#1302) 
* In progress: adding charuco option

* DepthAI: added raw image publishing mode (added support rtabmap's calibration file). Calibration: working charuco board calibration (on opencv 4.5).

* fixed build with Qt<5.14

* Updated calibration options

* Removed depthai flashing delays

* depthai: fixed camera not detected as calibrated in Mono-depth mode. Calibration: added option to scale sampling factor.
 2024-06-30 17:11:37 -07:00
matlabbe
1611aa14f6 fixed typo 2024-06-25 13:21:02 -07:00
matlabbe
7d970ef020 Fixed DBReader odometry ignored 2024-06-25 12:04:37 -07:00
matlabbe
4c1822683a Added new parameter: RGBD/AggressiveLoopThr 2024-06-19 10:28:17 -07:00
matlabbe
7c601bb6e8 Fixed #1300 (proximity sort by distance) 2024-06-16 11:11:39 -07:00
matlabbe
0d221a806f Update behavior of Odom/AlignWithGround when odmetry is already aligned with gravity (just update z value). 2024-06-15 17:24:00 -07:00
Adam Serafin
c58fffe56d Add flags for OpenNI (#1299) 
* update openni defines

* minor fix

* fixed build + minor changes

---------

Co-authored-by: matlabbe <matlabbe@gmail.com>
 2024-06-15 14:12:07 -07:00
matlabbe
2a840fe340 Fixed https://github.com/introlab/rtabmap_ros/issues/1173 (edited optimized map regenerated in localization mode) 2024-06-09 20:46:51 -07:00
matlabbe
80a4ce02c9 Fixed build without xvisio sdk, Added xvisio camera option in main menu. 2024-06-09 11:13:29 -07:00
matlabbe
8310925c81 Calibration tool: added support for rational model (8 coeff) 2024-06-09 10:20:18 -07:00
matlabbe
99cb02fdff ORB_SLAM3: fixed error if left image is color. SensorCaptureThread: stop thread if data cannot be captured (e.g., end of dataset) instead of skipping indefinitly with error log. 2024-06-09 10:20:18 -07:00
Borong Yuan
a327c9530c add XVSDK VIO 2024-06-03 10:28:45 +08:00
Borong Yuan
fc9dcd6b3d rectify xvDepthColor 2024-05-30 19:41:48 +08:00
Borong Yuan
0ad1d0ad69 add CameraSeerSense to guilib 2024-05-30 16:55:37 +08:00
Borong Yuan
ce0c806d75 add CameraSeerSense methods 2024-05-29 19:41:14 +08:00
Borong Yuan
fb37b3adba add xvDepthColor 2024-05-28 17:08:49 +08:00
Borong Yuan
3d5f1ad5c2 add xvImu 2024-05-24 23:12:16 +08:00
Borong Yuan
41a7eff8fa init CameraSeerSense 2024-05-23 20:51:13 +08:00
Borong Yuan
fbeabf0751 Add ANMS (SSC method) (#1276) 2024-05-19 18:21:00 -07:00
matlabbe
995f65b2ec Added parameter Rtabmap/VirtualPlaceLikelihoodRatio to select how likelihood is normalized/adjusted (0=default old approach used in paper). 2024-05-19 17:46:00 -07:00
matlabbe
c034a9631c Merge branch 'likelihood_experiment' of https://github.com/borongyuan/rtabmap into borongyuan-likelihood_experiment 2024-05-19 14:57:58 -07:00
matlabbe
256dcbded4 Added script to reproduce results from loop closure detection paper. Added option to show Recall at 100% precision directly from rtabmap-console. Fixed retrieval not working on loop closure detection mode-only. Fixed showLogs.m error with Octave. 2024-05-19 14:54:37 -07:00
matlabbe
72d7418011 Fixed build with pcl<1.8 2024-05-12 19:13:05 -07:00
Borong Yuan
f3cfa7831d adjust likelihood using z-score 2024-04-28 12:22:26 +08:00
matlabbe
27dea71398 Apply fix from #979 2024-04-15 20:51:50 -07:00
matlabbe
700704bec9 LiDAR capture support in standalone library (#1264) 
* Working rtabmap_lidar-mapping example (live and pcap)

* finalizing merge, added some deprecated

* fixed build

* Working deskewing for Lidar + Camera/IMU (no camera pose correction yet) and Lidar + Odom Sensor in main UI.

* backward compatibility

* fixed some not used variable warnings, fixed qt build for lidar mapping example

* Refactored CameraMobile, added AREngine background support, fixed LidarVPL16 build error with PCL 1.8

* ARCoreJava: buffer last depth image in case its stamp i higher than pose stamp. CameraMobile: added pose buffer. SensorCaptureThread: to get pose, odomSensor should be explicitly set, but can be same as lidar or camera  inputs.

* Working external lidar on iOS

* util3d::commonFiltering()/adjustNormalsToViewPoint() added organized cloud support. MainWindow: updated odomSensor setup

* fixed winsock include order

* reverted camera tool

* disable imu filtering when odom sensor is used

* Updated package version

* fixed windows build

* fixing more windows build erros
 2024-04-14 19:06:04 -07:00
matlabbe
6a6913c939 Fixed #1262 2024-04-13 16:42:58 -07:00
Borong Yuan
a55b4203cd copy global descriptor (#1263) 2024-04-13 14:56:28 -07:00
matlabbe
5ed1bf0ca8 GlobalDescriptor (PyDescriptor / netvlad) (#1163) 
* First commit for pydescriptor

* Fixed Python refactoring errors

* GUI: added PyDescriptor parameters

* reordered python3 includes

* updated rtabmap_netvlad.py test main

* fixed build from last merge

* integrated https://github.com/introlab/rtabmap/pull/1255

* rescaled dot product result

Closing https://github.com/introlab/rtabmap/issues/1105
 2024-04-07 15:48:16 -07:00
matlabbe
c33e995e83 Landmark constraints can now be rejected (in case we see same landmark at two different spots or constraint is poorly estimated). Optimizer/Robust can now be used with landmark constraints with orientation. 2024-04-06 13:41:03 -07:00
matlabbe
92edae35fc Fixed map empty on start if there is no global loop closure yet in localization mode when RGBD/OptimizeFromGraphEnd is true 2024-04-06 11:46:26 -07:00
matlabbe
9cb0046734 fixing build with gtsam 4.0 2024-04-02 15:32:04 -07:00
matlabbe
76f63ab79a Fixing build with gtsam 4.2 2024-04-02 13:29:51 -07:00
matlabbe
063ca9c8ee fixed gtsam 4.3 build error (https://github.com/introlab/rtabmap/pull/1033#issuecomment-2031002034) 2024-04-01 23:05:16 -07:00
matlabbe
8612ebba93 fixed https://github.com/introlab/rtabmap_ros/issues/1134 2024-03-31 13:06:52 -07:00
matlabbe
a0476af896 UI: Exposed more depthai options, setting default rectification alpha to -1 to avoid OAK-D Pro crash 2024-03-30 18:08:32 -07:00
matlabbe
cc17ebe92b iSAM2 integration (#1249) 
* isam2 integration

* fonctional iSAM2, added related parameters

* updated default params after testing large-scale enviroment

* proximity search optimization

* boost<1.68 fix

* boost version

* Fixed map not showing in graphview

* iSAM2: supporting MM/localization/multi-session modes
 2024-03-27 17:18:02 -07:00
Borong Yuan
bfeb487dba OAK Internal Sync & DepthAI HF-Net Support (#1193) 
* Using Sync Node

* Using normalized IR intensity

* Set IMU output frequency to 200 Hz

* set sync threshold properly

* add depthai hfnet local head

* fix DB error

* add depthai hfnet global head

* fix data delay if image rate is set manually
 2024-03-27 12:29:06 -07:00
matlabbe
7183b43c2a missed part from last commit 2024-03-23 14:34:54 -07:00
matlabbe
79dc180bf4 Fixed Odom/ResetCountdown not resetting anymore if next frame is also bad. 2024-03-17 17:19:08 -07:00
matlabbe
e299505a64 Fixed ORB_SLAM3 config for stereo mode 2024-03-12 23:13:06 -07:00
matlabbe
2577c47e77 Fixed #1232 2024-03-09 15:14:01 -08:00
matlabbe
52e1b01597 Fixed assert when exporting textured mesh with both multiband and blending enabled with grayscale images 2024-03-04 17:05:17 -08:00