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2014 Commits

Author SHA1 Message Date
matlabbe
379e11bd66 Supporting GTSAM bearing/range factors for landmarks (#1346) 
* Supporting GTSAM bearing/range factors for landmarks

* refreshing initial covariance after being modified in same sessions
 2024-09-21 18:14:52 -07:00
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