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3,131 Commits 29 Branches 163 Tags
1cc7c2818f9987d0c178568c72e1ad7dfada8e34
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1793 Commits

Author SHA1 Message Date
matlabbe
1cc7c2818f Localization covariance empty till localization 2023-06-05 20:08:21 -07:00
matlabbe
d3facb1a84 Added alpha=-1 option 2023-06-05 18:59:59 -07:00
Borong Yuan
31d975acd5 Add alphaScaling option 2023-05-31 22:15:16 +08:00
Borong Yuan
54c68f8e6c Updated disparity reprojection to account for cameras with different Fx and Fy values 2023-05-31 19:40:29 +08:00
Borong Yuan
aedfcdc576 alphaScaling test 2023-05-30 18:16:28 +08:00
matlabbe
5b1c9e7233 IMU board fix for original OAK-D 2023-05-29 17:02:53 -07:00
Borong Yuan
8d6c809c3c Update data sync implementation for DepthAI 2023-05-27 21:28:43 +08:00
Borong Yuan
52e417c313 Set IMU extrinsics to left camera optical frame 2023-05-25 12:19:07 +08:00
Borong Yuan
5592a1ebfe Update IMU local transform 2023-05-25 00:01:55 +08:00
Borong Yuan
42fbdda567 Merge branch 'introlab:master' into master 2023-05-23 10:08:21 +08:00
matlabbe
ae3fda37a9 Fixed not invertible error ofter wrong graph optimization (seen on localization mode, gtsam returning inf poses) 2023-05-22 17:56:59 -07:00
Borong Yuan
ffd89ead86 Get baseline using sdk method 2023-05-22 22:06:45 +08:00
Borong Yuan
937e9fbb3b Advanced parameter tuning for depth quality optimization 2023-05-22 20:29:44 +08:00
Borong Yuan
9ecf71e5ed Update DepthAI camera model 2023-05-22 18:37:08 +08:00
Borong Yuan
ff83b14b49 Add options to enable IR featues on OAK Pro models 2023-05-18 01:48:38 +08:00
matlabbe
682d54725a Fixed build with gtsam 4.3.0 (#1033) 2023-05-14 13:14:53 -07:00
matlabbe
ba33c080bc Added RGBD/LocalizationSmoothing parameter and fixed related issues (#1032) 
* removed code

* added landmark in graph optimization checks

* reverted smoothing, only if there is already a previous localization link

* Added RGBDLocalizationSmoothing parameter

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml
 2023-05-14 13:03:52 -07:00
matlabbe
e54195c47f ZED SDK 4 support (#1013) 2023-04-16 18:47:15 -07:00
matlabbe
e300d4c5c1 Added IMU support for camera images source with odom approach not supporting async imu 2023-04-16 17:32:32 -07:00
matlabbe
8b8a512cbb Added Icp/ReciprocalCorrespondences (new default true) 2023-04-06 20:57:35 -07:00
matlabbe
c4e94bcdc3 fix comment removed 2023-03-22 22:20:09 -07:00
matlabbe
85cc6fe3c7 fixed build with latest g2o c++17 (#999) 2023-03-22 20:42:33 -07:00
PonyPC
50a0961f4e Update OdometryORBSLAM.cpp (#991) 
Fix RGBD with ORB SLAM
 2023-03-20 19:35:39 -07:00
matlabbe
a406c37750 gtsam: Fixed metis linker errors on windows. Ceres: updated default solver options (working for BA and pose-graph optimizations, fixed #966) 2023-03-19 13:30:52 -07:00
matlabbe
1cb7f3fb87 octomap: fixed regression on ubuntu 16.04 2023-03-18 14:36:30 -07:00
matlabbe
ab99719a78 octomap: use cmake target (#995) 2023-03-18 14:19:16 -07:00
matlabbe
e3b7e9378d integrating c++17 fixes from #959 (ref:https://github.com/flann-lib/flann/pull/392), fixed pop_t error (b6e37553de) 2023-03-16 17:48:40 -07:00
matlabbe
6fe5e6375f Fixed g2o version not correctly used, D400: set default to IR+Depth 2023-03-13 22:10:24 -07:00
matlabbe
53025bf059 Update for windows release: added FindEigen3.cmake so that g2oConfig.cmake can find Eigen3 not using targets from PCL install, hiding console when creating a bundle app in windows, disabled vtk console 2023-03-13 03:10:16 -07:00
matlabbe
731d73b798 CMake Config: added "rtabmap::" prefix for all rtabmap's targets, provide RTABMap_TARGETS list (used by ROS2/ament to detect modern cmake packages). 2023-02-22 23:07:30 -08:00
matlabbe
c7f49134eb DBReader: fixed GUI freezing when consecutive stamps in loaded frames are very far apart. 2023-02-18 14:37:43 -08:00
matlabbe
89e3e10d89 Refactoring RTABMapConfig.cmake with targets (#904) 
* Config: Using cmake targets

* fixed RTABMAP_DEPRECATED build error

* fixed melodic build

* cleanup

* Fixed qhull exported library error

* Update svg depend private

* removed g2o from public interface

* Fixed Windows with external project

* removed some required dep

* Fixed nsis error (also fixed unspecified components)

* updated workflow rules
 2023-02-12 16:18:01 -08:00
matlabbe
437ed09335 DBReader: added ignore priors option (added to gui and reprocess), Statistics: added info about distance/angle of the localization, RegVis: fixed inliers mean distance on multicam setup, About: added MRPT info 2023-02-10 17:29:10 -08:00
matlabbe
59d220c54f k4a: fixed playback fps and imu handling 2023-02-08 21:15:16 -08:00
matlabbe
724e068194 fixed a seg fault 2023-02-08 18:46:02 -08:00
matlabbe
dcedd8bb6b Added MRPT optional dependency. Updated localization_pose + its covariance to be always published. 2023-02-03 17:25:38 -08:00
matlabbe
e4edee33eb Fixed build with cvsba and ceres 2023-01-28 18:49:58 -08:00
matlabbe
128d3b0d0a ZED: Fixed some warnings (#961) 2023-01-28 16:33:24 -08:00
reito
0e908206d0 OpenCV 4.7 moved aruco back to opencv repo, and makes some breaking changes. (#955) 2023-01-16 16:41:48 -08:00
matlabbe
6b9f7de782 Fixed a -pedantic warning 2023-01-16 14:14:25 -08:00
matlabbe
e3ceb8a572 VINS-Fusion: Fixed error wrongly logged when only imu is processed by vins. 2023-01-08 15:22:46 -08:00
matlabbe
f12cc83fc2 RegVis: using toSignature camera model for guess reprojection on optical flow mode (#947) 2022-12-20 20:51:56 -08:00
matlabbe
4a6a765cd1 Fixed #944 2022-12-14 19:42:56 -08:00
matlabbe
a4761ad397 Fixed #940 2022-12-11 01:12:21 -08:00
matlabbe
467dc738c7 Fixed deprecated warning not set to right function 2022-12-05 20:32:53 -08:00
matlabbe
8a8c360f89 fixed compilation warning 2022-11-27 16:20:56 -08:00
matlabbe
83693ed1b9 detectMoreLoopClosures: fixed guess not set for lidar-only registration (https://github.com/introlab/rtabmap_ros/issues/727) 2022-11-26 20:24:43 -08:00
matlabbe
860c14e0ec rtabmap: fixed export poses in format 10 and 11 (#883) 2022-11-26 12:42:04 -08:00
matlabbe
85bc1ee27f GTSAM: return empty optimized poses in case of exception or error. g2o: don't assert on marginal not computed, log error and reutn empty optimized poses. 2022-11-22 12:26:02 -08:00
matlabbe
6d713c2ccb uNumberToStr(double): added "fixed" param (default false) to fix ros param double/int conversion issue. 2022-11-11 16:20:59 -08:00