* limit max features internally inside pydetector and superpoint_rpautrat to limit keypoint/desc data size and improve performance
* avoid full reset when max features is changed to work around the memory temprorary param update logic
* remove leftover comment
* try using image roi instead
* revert and regenerate
* unintended change
* fixing issue with pydetector, adding mask filtering
---------
Co-authored-by: Felix Toft <felix@robust.ai>
* Working IMU_RGBD and IMU_STEREO. Changing Inter IMU base frame is now possible.
* Output error msg when vocabulary path is wrong.
* Showing full local feature map
* Prioritize neighbor links in Optimizer::getConnectedGraph() to avoid odometry jumps.
* Fixed landmark order
* report: added search for first valid id
* Fixed non-neighbor comparison logic
* RGBD/LocalizationPriorError can now be 0 (disabled) to avoid using priors to fix the graph (https://github.com/introlab/rtabmap_ros/issues/1371)
* amend previous commit
* initial python implementation of superpoint rpautrat
* working python implementation of superpoint
* small tweaks to try and work around the GIL issue
* fix missing os import
* begging cpp impl of superpoint python model
* finishing cpp superpoint impl using the same SPDetector interface
* finalizing superpoint cpp impl, working with cpu but needs to be cleaned
* fixing feature matching by reworking nms and filtering logic
* speeding up nms with batched operations and cleaning up
* updating conversion script
* adding args for image dimensions and cuda usage to model tracer
* wiring up UI to parse superpoint params
* adding label to superpoint rpautrat ui
* reverting some unintended ui changes
* typo
* oneline revert
* removing nms and threshold filtering from cpp, this is handled internally by the superpoint model
* using python interface to run the superpoint _to_torchscript.py script at runtime
* generate and load model file on the first incoming frame
* reverting unintented change
* ui changes appear mysteriously again, reverting
* remove topk from model to prevent issue when number of detected keypoints is lower then the k value (scripting fails in this case)
* cleaning up for review
* change dest for model file and remove debug logs
* bump patch and add version comment
* rm unucessary comment
* use resources to load file to ensure it works when rtabmap isn't built from source
* execute with pybind runpy instead of system call
* only build superpoint rpautrat if we have torch and python support
* changing param to accept a path to the weights .pth file directly
* parse the default working directory to save the model file in
* rm extraneous change
* rm setters and re-initialize the detector whenever params change. We cannot support changing params after the model is constructed
* update UI text
* only enable superpoint rpautrat when built with python and torch
* more build information regarding superpoint rpautrat
* generate temporary python script in the working dir
* rm unecessary changes to rtabmap_superpoint.py
* fix comment and only add repo root to sys.path
* introduce a new parameter for the superpoint python model definition
* execute script from string instead of writing to a file
* wrap parse params in a single compiler directive
* remove descriptor spatial matching logic and rely on upstream RTAB-Map processes to take the top-K desc and kpts
* only add python script to resources if built with superpoint rpautrat support. supress warning with type casting
* isolate pybind11 setup so it can't affect any other modules or potential regnerations of the model file
* update about dialog to show superpoint rpautrat
* remove debug logs
---------
Co-authored-by: Felix Toft <felix@robust.ai>
* Orbbec SDK 2 integration (new CameraOrbbecSDK class)
* Added rectification option, fixed the build without orbbec sdk
* Fixed timestamp issue on Windows
* Removed WITH_ORBBEC_SDK=ON by default in case v1 is installed. Enabled inter imu when selecting orbbec sdk.
* requiring orbbec version=2 to avoid confusion
* Finalizing options
* integrating cuvslam, stereo cam initialization
* fixing transformations
* use isaac ros TocuVSLAMPose
* organizing
* handling covariance conversion
* cleaning up config
* moving cmake instructions to FindCuVSLAM.cmake file
* fixing ui integration
* updating software license for cuvslam
* improving memory management
* cleaning up header more
* reverting mistake in GUI
* using opaque pointers for header definitions, compiles
* back to typed definitions using forward-referencing
* fixing dangling pointer
* cleaning up
* fixing variable scope issues
* Using cuda to allocate gpu memory
* fixing transfrom from cuvslam back to ros coordinate frame
* reducing excessive logs
* removing redundant if true in cuvslam cmake
* moving find cuda into cuvslam cmake
* cleaning cmake to use modern target
* adding copyright line
* Finding tf2 and eigen3 in cmake
* simplifying clean up logic
* better logs
* moving cuvslam implementation methods into cpp
* fixing build with implmentation function declarations moved to the cpp
* cleaning transformation logic and adding grayscale support
* typo
* removing unecessary class member variable for processed images
* remove trailing underscore from initialize cuvslam function signature
* locally scoping config params since they are copied by cuvslam
* removing unecessary member variables and using locally scoped values since cuvslam seems to copy them
* more cleaning and refactoring
* fixing cmake inconsistancies and surpress warning
* fixing up baseline transform
* trying to remove tf2 for transformations
* fixing incorect baseline transform swap
* comment, begin reset logic investigation
* better handling of previous pose and transform during error cases
* hunting for reset bug, not found
* observation export implementatin, currently getting strange errors
* multi cam support
* Memory fixes
* comments
* make cuda stream a member variable so it isn't initialized and destroyed on every frame
* preparing to add ground constraints
* adding ground constraints, working
* adding wheel odom fusion into cuvslam tracker
* parsing parameter to apply planar constraints
* removing planar constraint in config, doesn't do anything
* using proper cuda stream type for member variable
* cleaning up for merge
* only parse params when cuvslam is compiled
* updating error message if using rgb-d instead of stereo
* removing wheel odom testing logs
* reverting bgr to rgb conversion
* fixing initial pose logic
* return null transform on invalid covariance
* debugging covariance
* guard against low velocity situations where cuvslam covariance spikes, but we aren't lost
* cleaning things up
---------
Co-authored-by: Felix Toft <felix@robust.ai>
Co-authored-by: matlabbe <matlabbe@gmail.com>
* On init, rebuild the dictionnary only once
* Fixed first dictionary update to avoid rebuilding multiple times. Commented some very verbose debug logs (should create a new level: UVERBOSE or UTRACE)
* bump version 0.23: added parameters "Mem/LoadVisualLocalFeaturesOnInit", "Mem/FlannIndexSaved", "Kp/SerializeWithChecksum".
* Renamed Mem/FlannIndexSaved to Kp/FlannIndexSaved. Update UI Preferences with new parameters.
* commented some very verbose debug logs
* Warn flann index serialization not implemented on windows
* Warn flann index deserialization not implemented on windows
* Removing some verbose logs
* missing header (win32)
* Added GlobalMap::fullUpdateNeeded() function
* Adding log
* Save flann index even if links changed
* log time to serialize flann index
* Make dictionary modified only after we update
---------
Co-authored-by: Mathieu Labbe <mathieu@robust.ai>
