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56552afa6c04c4db137ebbf69d8cc8e3b9198b0b
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1841 Commits

Author SHA1 Message Date
matlabbe
56552afa6c Tuning localization priors (added RGBD/LocalizationPriorError parameter) (#1156) 
* tuning localization priors (for https://github.com/introlab/rtabmap_ros/issues/1057)

* Set prior error value to same than old default value
 2023-11-05 15:14:11 -08:00
Borong Yuan
45a3b59a23 transform features after source images decimation (#1154) 2023-11-02 08:10:02 -07:00
matlabbe
08d0ef7408 report: added --gt option to input external ground truth file. DBViewer: fixed crash when unchecking "Ignore intermediate nodes". 2023-10-27 17:10:10 -07:00
Borong Yuan
8da6ea1707 Add missing filterKeypointsByDepth step (#1150) 
* add missing filterKeypointsByDepth step

* Fix ORBOctree not using the depth mask

---------

Co-authored-by: matlabbe <matlabbe@gmail.com>
 2023-10-26 13:15:34 -07:00
matlabbe
64962e8e3d Added multicameras support for F2F odometry / OpticalFlow 2023-10-25 14:54:20 -07:00
Borong Yuan
948e15c72c Supplement and Adjust OpenVINS Parameters (#1145) 
* set the PrintLevel of OpenVINS to be equivalent to that of ULogger

* use global FAST settings

* add online calibration params

* add dynamic initialization params

* add necessary feature initializer options

* fix segfault of OdomImageDecimation

* add mask settings

* use depth as mask in OpenVINS

* set twist covariance

* restore default values of VisMinDepth and VisMaxDepth
 2023-10-21 14:24:51 -07:00
Borong Yuan
f06cc0b17f OAK bug fixes and improvements (#1143) 
* *fix distortion correction problem of small FOV devices
*remove deprecated IMU firmware update API
*add useSpecTranslation option

* reduce depth image noise and simplify calculation for compressed transport
 2023-10-07 20:40:30 -07:00
Borong Yuan
2aa139b579 Update odometry info of OpenVINS (#1142) 
* add msckf features visualization

* fill localMap with active tracked features
 2023-10-07 20:36:00 -07:00
Borong Yuan
67c6a15b93 OpenVINS Update (#1107) 
* fix openvins build

* Add OpenVINS params to UI

* update OdometryOpenVINS implementation

* the pixel noise of most cameras should be less than 3 after factory calibration

* propagation and update are only performed after camera measurement feeding

* fix openvins feature reprojection
 2023-10-02 07:53:29 -07:00
matlabbe
78c029d833 fixed https://github.com/introlab/rtabmap_ros/issues/1038 2023-10-01 09:07:15 -07:00
Borong Yuan
afd10b1aa6 add histogram equalization (#1137) 2023-09-21 15:46:10 -07:00
matlabbe
f1cd819673 Fixed superglue deadlock on standalone (#896). Fixed some elemSize opencv asserts in debug build (876) 2023-09-17 01:19:59 -07:00
matlabbe
fb466a6a96 StereoBM/StereoSGBM: Thresholding output to zero when minDisparity is used 2023-09-16 17:43:00 -07:00
matlabbe
97f2b4b65d Fixed autogen cmake warnings. Fixed pytorch requiring c++17. 2023-09-16 14:26:17 -07:00
matlabbe
2d7d0ec424 Fixed backward compatibility (xenial) from #1117 2023-09-05 08:51:57 -07:00
matlabbe
e56e0c37f7 Fixed https://github.com/introlab/rtabmap_ros/issues/1024 2023-09-04 11:55:52 -07:00
cdb0y511
6a5b844bac fix for Undefined symbols for architecture x86_64: "Nabo::NearestNeighbourSearch (#1117) 
related to https://github.com/ethz-asl/libpointmatcher/issues/514
employ fix from https://github.com/ethz-asl/libpointmatcher/pull/513
 2023-08-27 13:36:49 -07:00
Borong Yuan
61dbe51ee3 Update OAK stereo config and IMU rate (#1116) 
* update OAK stereo config and imu rate

* enable brightness filter
 2023-08-19 16:29:05 -07:00
matlabbe
cdd8cd9e34 ICP/intensity: Applying fix from #1111 2023-08-13 14:58:15 -07:00
matlabbe
ba5579f063 Only remove compressed raw data when publish data is false (keep features/occupancy grid) 2023-08-11 16:31:26 -07:00
matlabbe
6395487b58 Stats: distance from last localization not increasing if small motion 2023-08-10 15:17:15 -07:00
Borong Yuan
f0ba56bf5e fix ros gtsam 4.2a9 build (#1108) 2023-08-07 07:33:23 -07:00
matlabbe
d25bb758ca Merge branch 'msckf_vio_update' of https://github.com/borongyuan/rtabmap into borongyuan-msckf_vio_update 2023-07-30 11:43:06 -07:00
matlabbe
424dc90dce Added Vis/PnPVarianceMedianRatio parameter (to tune pnp computed covariance) 2023-07-27 16:13:30 -07:00
Borong Yuan
5d6875ed98 change for initial frame update 2023-07-24 21:10:55 +08:00
matlabbe
3feb03cf35 Added Vis/PnPSamplingPolicy parameter (opengv "multi" ransac) 2023-07-22 11:05:21 -04:00
matlabbe
a593b0d525 Merge branch 'guoqingz/multi_noncentral' of https://github.com/guoqingzh/rtabmap into guoqingzh-guoqingz/multi_noncentral 2023-07-21 11:35:26 -04:00
matlabbe
e8b54de94a CameraDepthAi: Fixed buffered frames 2023-07-21 09:10:06 -04:00
Borong Yuan
f9719c197d disparityToDepthUseSpecTranslation is enabled by default as recommended 2023-07-20 00:28:36 +08:00
Borong Yuan
d391f237eb update imu callback 2023-07-17 23:35:03 +08:00
Borong Yuan
0b4f5d2925 remove unnecessary conversion function 2023-07-17 17:00:43 +08:00
Borong Yuan
7d2272beb3 fix ProtocolToStr() visibility 2023-07-17 10:09:49 +08:00
Borong Yuan
6d690a315a Using VideoEncoder on PoE devices 2023-07-17 03:32:18 +08:00
Borong Yuan
ce81fe445a specify device using MXID or IP/USB name 2023-07-15 20:58:00 +08:00
Borong Yuan
a2a75a28ba add imu local transform for oak-d poe models 2023-07-14 20:18:48 +08:00
Guoqing Zhang
ddeca4585d Motion estimation: use MultiNoncentralAbsolutePoseSacProblem to estimate camera pose 2023-07-11 16:35:55 +03:00
matlabbe
64f79813cd Added error log message when graph optimization error is huge (error ratio over > 100) and RGBD/OptimizeMaxError is disabled. 2023-07-03 18:04:54 -07:00
matlabbe
97be9d4ace Localization mode: Fixed proximity detection permanently disabled when Rtabmap/StartNewMapOnLoopClosure is true 2023-06-27 17:25:07 -07:00
matlabbe
dcbad6a0aa NMS: optimized descriptor copy by rows 2023-06-20 21:52:43 -07:00
matlabbe
337832e1b8 Fixed NMS seg fault #1064 2023-06-20 20:53:32 -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
720d50fe74 add depthai superpoint descriptor 2023-06-19 15:15:37 +08:00
matlabbe
33fb2f75ad Fixed Python.h not found error (#1054) 2023-06-17 15:46:44 -07:00
Borong Yuan
55a84cfdaa add depthai superpoint detector 2023-06-17 16:53:25 +08:00
Borong Yuan
2dd64a6283 move NMS to util2d 2023-06-17 13:06:54 +08:00
Borong Yuan
e219152e8f update to depthai-core v2.22.0 2023-06-15 14:02:09 +08:00
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
0c3b202006 fixed build with MRPT 2023-06-06 08:51:40 -07:00
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