i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity
3,467 Commits 29 Branches 163 Tags
1d6c70c1db6bcd38158d35e4bed34bdd6b8a3423
Commit Graph

1409 Commits

Author SHA1 Message Date
matlabbe
fa4a2eb5e3 Fixed build on 22.04 caused by 9e86faa4ad 2023-09-07 10:29:18 -07:00
matlabbe
9e86faa4ad GraphView: added right-click option to export 2d grid map directly from the view 2023-09-07 09:10:04 -07:00
matlabbe
424dc90dce Added Vis/PnPVarianceMedianRatio parameter (to tune pnp computed covariance) 2023-07-27 16:13:30 -07:00
matlabbe
3feb03cf35 Added Vis/PnPSamplingPolicy parameter (opengv "multi" ransac) 2023-07-22 11:05:21 -04:00
matlabbe
c7e46c1431 rgbddatset tool: removed local covariance logic. DBViewer: fixed poses not aligned to groundtruth on start. 2023-06-25 17:42:54 -07:00
matlabbe
d901fb23e3 Merge branch 'depthai-superpoint' of https://github.com/borongyuan/rtabmap into borongyuan-depthai-superpoint 2023-06-19 18:39:15 -07:00
Borong Yuan
55a84cfdaa add depthai superpoint detector 2023-06-17 16:53:25 +08:00
matlabbe
f75839294a Fixes for rtabmap_viz info sub only (with local cache) 2023-06-16 16:30:07 -07:00
Borong Yuan
d031d79369 add depthai gftt detector (#1047) 
* add depthai feature detector draft

* update depthai gftt config

* optimize to detect more features
 2023-06-11 12:57:26 -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
André Lison
67df99aa57 fixes for texture mesh export pcl > 1.13.0 (#1039) 
Co-authored-by: FIRST_NAME LAST_NAME <MY_NAME@example.com>
 2023-05-29 19:00:18 -07:00
Borong Yuan
8d6c809c3c Update data sync implementation for DepthAI 2023-05-27 21:28:43 +08:00
Borong Yuan
ff83b14b49 Add options to enable IR featues on OAK Pro models 2023-05-18 01:48:38 +08:00
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
b91addb261 GUI: create simple calibration->fixed optical rotation 2023-04-15 18:24:14 -07:00
matlabbe
0f221ba3cd ParametersToolbox: fixed unsigned int parameter type not showing in toolbox 2023-04-14 17:50:34 -07:00
matlabbe
8b8a512cbb Added Icp/ReciprocalCorrespondences (new default true) 2023-04-06 20:57:35 -07:00
matlabbe
141f2d3334 DbViewer: added align gps checkbox 2023-04-05 22:19:54 -07:00
matlabbe
6dca8ab0f3 Fixed seg fault on start with >= VTK9.1, MACOSX: fixed bundle with homebrew 2023-03-25 22:41:28 -07:00
matlabbe
e7bea0ec03 Windows: Fixed QVTKWidget error with VTK9.2, fixed ambiguous "byte" compilation error 2023-03-16 19:27:54 -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
e51d161407 Export explicity Qt include dirs (compatibility with old cmake way) 2023-03-05 18:45:27 -08:00
matlabbe
8c5c4f63bf Qt6 compatibility (#968) 
* Qt6 Compilation success

* Fixed qt5 backward compatibility

* Fixed build for qt<=5.9 (bionic)

* Added docker file for easy testing with latest Qt/VTK/PCL/OpenCV

* Fixed cmake for qt
 2023-03-05 16:34:56 -08:00
matlabbe
98635ae33d GUI: fixed missing cache not republished in appearance-only mode 2023-03-04 13:38:27 -08:00
matlabbe
70cbe52fcf DbViewer: exporting map info in yaml file when exporting 2d occupancy grid (#978) 2023-02-25 17:12:51 -08:00
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
70c3d5d97f DbViewer: added convenient option to rotate the occupancy grid (affect only optimized graph for localization mode). 2023-02-22 17:20:09 -08:00
matlabbe
23b0b37493 ImageView: updated depth color map gradient, added option to set minimum depth. 2023-02-22 12:34:20 -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
b5eef4b86a DBViewer: ignore marker constraints in refine, add marker priors when optimizing the graph 2023-01-21 15:52:01 -08:00
matlabbe
16e3314e64 💄 2022-11-11 14:45:33 -08:00
matlabbe
2889cf8048 GUI: fixed latest data requested on localization mode 2022-10-31 13:21:13 -07:00
matlabbe
86f66cc8b8 Added missing signature info in republished data 2022-10-30 13:59:08 -07:00
matlabbe
1297714271 Bump version 0.20.22. Refactored RtabmapThread commands handling. MainWindow/RtabmapThread/Statistics/UVariant: added new option to republish missing data on GUI side. MainWindow: fixed 1 sec lag when waypoints are used. Parameters: added Rtabmap/MaxRepublished (moved from rtabmap_ros). OccupancyGrid: fixed ground cells ignored if there are empty cells, also don't add pose in addedNodes if corresponding node was not in cache. 2022-10-28 12:25:48 -07:00
matlabbe
8e30c1c812 GraphView: added user link on inter/intra loop closure color scheme option 2022-10-24 17:45:16 -07:00
matlabbe
df888962f4 depthai: fixed app freezing if oakd device (oak-d lite) doesn't have imu and imu is requested. 2022-10-24 11:13:27 -07:00
matlabbe
769ace86ce Added oak-d lite menu option (depthai: imu is now optionnal) 2022-10-23 18:15:23 -07:00
matlabbe
97a150b180 DbViewer: added option to regenerate optimized 2d map from OctoMap (https://github.com/introlab/rtabmap_ros/issues/213) 2022-10-23 12:16:35 -07:00
matlabbe
fdb78d33b0 DBViewer: added optimzed and prior poses in node details. Reprocess: add start_s, stop_s and pub_loops options. 2022-10-12 13:05:01 -07:00
matlabbe
1e9b090624 Gui: Added re-localization colors on odom cache graph. Added frame labels (map, odom). 2022-10-04 16:27:33 -07:00
matlabbe
7e3e5ec50b DBViewer: fixed matching lines when two images don't have the same number of cameras. Fixed nodes with w=-9 can be used to add constraint (in case localization data is saved in database). Add constraint: compute transform in order of the sliders. 2022-10-04 14:23:12 -07:00
matlabbe
fa31affea0 Pnp multicam refactoring (#902) 
* gui: fixed wrongly showing landmark rejected when it was not (because a loop closure was rejected at the same time)

* Added Vis/PnPMaxVariance and RGBD/InvertedReg parameters. Implemented inlier distribution computation for multicam.

* On loc/small displacement: don't remove from odom cache if loop is rejected (maybe first loc)

* Loc: don't prune odom cache on small movement if delayed loc is enabled

* loc/small movement: cleanup bidirectional links

* Cov/PnP: fixed objPt transform to estimate depth

Co-authored-by: mathieu86 <mathieu@robust.ai>
 2022-09-24 12:29:42 -07:00
matlabbe
95a76cb696 gui: fixed wrongly showing landmark rejected when it was not (because a loop closure was rejected at the same time) 2022-09-22 15:16:08 -07:00
matlabbe
34ed9d79c7 export: added --texture_blur filtering option 2022-07-20 22:08:45 -04:00
matlabbe
5943a8b065 Added stereo multi-camera support (#884) 
* Integrated OpenGV

* Fixed build without opengv

* Cmake: moved OpenGV dependency status under solvers group

* Added multi-stereocamera models support

* Fixed OpenGV 0 sample error when one of the camera doesn't have features. Fixed g2o BA id offset with multi-camera.

* Fixed multicam 3d points generated from stereo correspondences

* db: Fixed multi stereo models not loaded correctly

* gui: fixed stereo rectification option, RegVis: fixed projection error with old databases (image size not set in calibration)

* OdomF2M: Fixed map.at error when bundle adjustment is not used

* depthai: added imu firmware update option for convenience

* Fixed various refactor errors

* Moved "large number stereo correspondences rejected" warning outside computeCorrespondences function for multicam

* Added error log if ba correspondences are computed with empty signatures

* fixed compilation errors with latest opencv

Co-authored-by: mathieu86 <mathieu@robust.ai>
 2022-07-20 15:20:14 -04:00