* Read-only localization mode
* Localization: don't update map's node timestamps if statistic after run are not saved
* Updated Mem/LocalizationReadOnly description
* Updated description of Kp/FlannIndexSaved
* rtabmap-rgbd_camera: added width/height options,
* using CameraViewer for visualization by default (use -pcl option for old visualization).
* CameraViewer: added capture and render rate.
* Note that non-TOF orbbec cameras could not be tested.
* update cuvslam api call to adhere to new v4.0 changes
* update comment
* parse cuvslam major version from the header and throw an error if theversion doesn't match the expected
* moving average filter + extensive debug logging
* lots more logs
* improvement by turning off use_motion_model in cuvslam config. lots of debug logs.
* slight improvements to velocity guard logic. lots of debug logs
* removing debug logs. working.
* let find_package_handle_standard_args handle the version comparison logic. Custom logic to handle newer then requested major version
* proper warning message if the major version doesn't match
* add back debug logs. Handle no guess transform case.
* adding warnings when no guess transform is provided
* clean up comments
* lowering average window to 5
* moderate odometry mode, 5 value averaging window
* adding comment
* add reset logs to investigate reset issue
* try returning guess or identity on init to avoid reset cascade
* disable motion model again
* big log when tracking
* remove some debug logs
* flag to use original covariance from cuVSLAM
* use raw covariance
* data collection for revised lost detection
* compare guess to estimated transform for lost detection
* re-enable motion model, it appears to reduce false-positives for the new lost detection
* run pose estimation afer init on first frame
* don't initialize if we don't have enough features
* dont warm up GPU everytime we reset
* low estimate velocity guard. Passes all challenges. Debug comments still everywhere.
* Remove debug logs. Add thresholds to header in a config section.
* Cleanup logs
* exposing multi-cam mode as a rtabmap param
* remove max frame delta
* change to use assertion instead of conditional
* replaced some UERROR by UWARN
---------
Co-authored-by: Felix Toft <felix@robust.ai>
Co-authored-by: matlabbe <matlabbe@gmail.com>
* DbViewer: coloring graph based on env sensor value (e.g., wifi signal strength)
* GraphViewer optimizations
* Fixed link memory allocation
* refactor
* more optimizations
* mainwindow keypoints optimization
* MainWindow optimizations
* Shrink graphics scene on clearAll
* limit max features internally inside pydetector and superpoint_rpautrat to limit keypoint/desc data size and improve performance
* avoid full reset when max features is changed to work around the memory temprorary param update logic
* remove leftover comment
* try using image roi instead
* revert and regenerate
* unintended change
* fixing issue with pydetector, adding mask filtering
---------
Co-authored-by: Felix Toft <felix@robust.ai>
* Working IMU_RGBD and IMU_STEREO. Changing Inter IMU base frame is now possible.
* Output error msg when vocabulary path is wrong.
* Showing full local feature map
* Prioritize neighbor links in Optimizer::getConnectedGraph() to avoid odometry jumps.
* Fixed landmark order
* report: added search for first valid id
* Fixed non-neighbor comparison logic
* RGBD/LocalizationPriorError can now be 0 (disabled) to avoid using priors to fix the graph (https://github.com/introlab/rtabmap_ros/issues/1371)
* amend previous commit
* initial python implementation of superpoint rpautrat
* working python implementation of superpoint
* small tweaks to try and work around the GIL issue
* fix missing os import
* begging cpp impl of superpoint python model
* finishing cpp superpoint impl using the same SPDetector interface
* finalizing superpoint cpp impl, working with cpu but needs to be cleaned
* fixing feature matching by reworking nms and filtering logic
* speeding up nms with batched operations and cleaning up
* updating conversion script
* adding args for image dimensions and cuda usage to model tracer
* wiring up UI to parse superpoint params
* adding label to superpoint rpautrat ui
* reverting some unintended ui changes
* typo
* oneline revert
* removing nms and threshold filtering from cpp, this is handled internally by the superpoint model
* using python interface to run the superpoint _to_torchscript.py script at runtime
* generate and load model file on the first incoming frame
* reverting unintented change
* ui changes appear mysteriously again, reverting
* remove topk from model to prevent issue when number of detected keypoints is lower then the k value (scripting fails in this case)
* cleaning up for review
* change dest for model file and remove debug logs
* bump patch and add version comment
* rm unucessary comment
* use resources to load file to ensure it works when rtabmap isn't built from source
* execute with pybind runpy instead of system call
* only build superpoint rpautrat if we have torch and python support
* changing param to accept a path to the weights .pth file directly
* parse the default working directory to save the model file in
* rm extraneous change
* rm setters and re-initialize the detector whenever params change. We cannot support changing params after the model is constructed
* update UI text
* only enable superpoint rpautrat when built with python and torch
* more build information regarding superpoint rpautrat
* generate temporary python script in the working dir
* rm unecessary changes to rtabmap_superpoint.py
* fix comment and only add repo root to sys.path
* introduce a new parameter for the superpoint python model definition
* execute script from string instead of writing to a file
* wrap parse params in a single compiler directive
* remove descriptor spatial matching logic and rely on upstream RTAB-Map processes to take the top-K desc and kpts
* only add python script to resources if built with superpoint rpautrat support. supress warning with type casting
* isolate pybind11 setup so it can't affect any other modules or potential regnerations of the model file
* update about dialog to show superpoint rpautrat
* remove debug logs
---------
Co-authored-by: Felix Toft <felix@robust.ai>
