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
812caeeb9a
docker: added libtbb-dev
2024-05-12 22:15:20 -07:00
matlabbe
a66564f98f
docker/jammy/jammy-iron: added WITH_TBB option for opencv
2024-05-12 20:36:27 -07:00
matlabbe
375597af00
docker/focal: added WITH_TBB option for opencv
2024-05-12 19:58:12 -07:00
matlabbe
72d7418011
Fixed build with pcl<1.8
2024-05-12 19:13:05 -07:00
matlabbe
9505a21a7e
DBViewer/Matcher tool: Fixed crash when python feature/matcher is used
2024-04-28 17:40:37 -07:00
matlabbe
36304b2cd1
frontiers docker: added missing pybind-dev dep
2024-04-28 11:46:37 -07:00
Borong Yuan
f3cfa7831d
adjust likelihood using z-score
2024-04-28 12:22:26 +08:00
matlabbe
99c4612c64
Fixed #1268 . Fixed ui warnings of labels with same name.
2024-04-27 14:58:33 -07:00
matlabbe
27dea71398
Apply fix from #979
2024-04-15 20:51:50 -07:00
matlabbe
726bceb816
fixing bionic build
2024-04-14 19:46:34 -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
a3267c9da6
UI: Added option to change map resolution on UI side, save/restore thresholds in figures, fixed basic panel's slam/rgbd mode checkboxes not changing the state of corresponding parameters.
2024-04-12 17:12:23 -07:00
matlabbe
fbbab1c077
Update README.md
2024-04-11 17:12:11 -07:00
mathieu86
4e7110930c
DbViewer: switch between left and right views when double-clicking on single nodes
2024-04-11 13:01:00 -07:00
matlabbe
9266926a4a
docker: enabled focal linux/arm/v7
2024-04-10 09:13:24 -07:00
Dominic Létourneau
5a159cef04
Create scheduled-stats.yml ( #1260 )
...
GitHub Stats for IntRoLab.
2024-04-09 09:09:21 -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
d794669ef9
DBViewer: added buttons to edit/add priors
2024-04-02 17:37:52 -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
11adbdcc9f
Fixed #1253
2024-03-31 14:53:00 -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
3b735907c8
DbViewer tool: added database's parameter overriding from arguments
2024-03-29 13:30:12 -07:00
matlabbe
0ba79be461
depthai >=2.24 requirement
2024-03-28 14:27:17 -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
bc6d390fb6
bionic docker: fixing cmake version for arm
2024-03-24 18:49:11 -07:00
matlabbe
f8a63ecf10
Fixing bionic docker (with cmake>=3.14)
2024-03-23 14:41:10 -07:00
matlabbe
7183b43c2a
missed part from last commit
2024-03-23 14:34:54 -07:00
matlabbe
fa3ece5183
Increased minimal cmake version to 3.14 to use cmake's official FindSQLite3.cmake ( #1250 )
2024-03-23 14:32:18 -07:00
matlabbe
2f132b3a40
GUI: adjusted max limit of Optimizer/Epsilon
2024-03-19 16:34:11 -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
264c560a2c
reverted 87faea7a85 for #783 (just don't include OptimizerCeres if -DWITH_CERES=OFF even if floam or okvis did include it)
2024-03-16 17:10:34 -07:00
matlabbe
4ce36ef245
Updated appveyor gdown version
2024-03-13 23:27:47 -07:00
matlabbe
d0227694c5
small fix for qt6
2024-03-13 22:52:44 -07:00
matlabbe
a6d9425bce
DBViewer: support doubleclick on node or link in graphview to update correpsonding image view and constraints view, also added "Show pixel depth" menu option in ImageView to show pixel depth and pixel coordinate in map frame.
2024-03-13 22:42:47 -07:00
matlabbe
e299505a64
Fixed ORB_SLAM3 config for stereo mode
2024-03-12 23:13:06 -07:00
matlabbe
57b4954cb3
Update README.md
2024-03-10 15:24:48 -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
matlabbe
8019a2dc49
Fixed #1227
2024-03-02 16:17:10 -08:00
