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1827 Commits

Author SHA1 Message Date
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
matlabbe
c9d50ef445 Export GPS poses: set 8 decimals (1 mm accuracy) https://github.com/introlab/rtabmap_ros/issues/833 2022-11-02 11:35:54 -07:00
matlabbe
69214b927a fixed android build 2022-10-30 14:47:34 -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
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
6e8f43916c floam: republish input scan with features 2022-10-16 21:31:43 -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
30bf5895ca Fixed #909 2022-09-30 14:17:23 -07:00
matlabbe
87faea7a85 Fixed ceres linker issue with floam dependency (if WITH_CERES is OFF) 2022-09-27 23:35:13 +00:00
matlabbe
74c6e9cfec Fixed compilation error about stereoCameraModel() not found (#905) with OpenVINS odometry 2022-09-27 13:48:57 -07:00
matlabbe
675dad5f76 Fixed compilation error about stereoCameraModel() not found (#905) with odometry approaches: Fovis, MSCKF, Okvis, VINS, Viso2. 2022-09-27 18:56:05 +00:00
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
737675c6f1 fixed dereference end iterator assert (#900) 2022-09-19 07:34:48 -07:00
matlabbe
4d6bc78e3d implement multi camera marker detection #898 (#899) 
* Added multicamera marker detection support

* Fixed marker detection on camera index> 0

Co-authored-by: mathieu86 <mathieu@robust.ai>
 2022-09-14 17:13:59 -07:00