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3658 Commits

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Author SHA1 Message Date
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
b8c298efd9 Added devcontainer 2023-07-02 23:49:02 -07:00
matlabbe
97be9d4ace Localization mode: Fixed proximity detection permanently disabled when Rtabmap/StartNewMapOnLoopClosure is true 2023-06-27 17:25:07 -07:00
Chris Lalancette
f8c4b62591 Remove dependency on qt_gui_cpp. (#1072) 
There is no dependency in this package on qt_gui_cpp.
Instead, just use a dependency on qtbase5-dev

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
 2023-06-27 13:07:47 -07:00
matlabbe
a1168ba8a9 docker: removed focal-foxy (EOL) 2023-06-27 12:14:00 -07:00
matlabbe
c307f5c65f Removing foxy from CI (EOL) 2023-06-27 12:11:07 -07:00
matlabbe
b0cf2e9927 Update cmake-ros.yml with setup-ros 0.6 2023-06-27 11:16:14 -07:00
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
092f6abccc fixed downstream python cmake not found (#1063) 2023-06-21 21:04:29 -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
matlabbe
59d5675fe6 docker: remixed where deps are built for convenience 2023-06-19 15:17:02 -07:00
matlabbe
ab3ade0309 fixed #1051 2023-06-19 15:06:16 -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
matlabbe
36c0054070 docker: focal-foxy-deps, switched opengv and opencv 2023-06-17 12:30:55 -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
matlabbe
f75839294a Fixes for rtabmap_viz info sub only (with local cache) 2023-06-16 16:30:07 -07:00
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
0c476936e3 docker: added tegra path to LD_LIBRARY_PATH to images 2023-06-11 10:15:40 -07:00
matlabbe
d86193036f docker ros2: fixed entrypoint.sh not exec 2023-06-11 10:02:17 -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
1e145550df Merge branch 'borongyuan-alphascaling' 2023-06-05 19:01:42 -07:00
matlabbe
2a3580e060 Merge branch 'master' of https://github.com/introlab/rtabmap into borongyuan-alphascaling 2023-06-05 19:00:44 -07:00
matlabbe
d3facb1a84 Added alpha=-1 option 2023-06-05 18:59:59 -07:00
matlabbe
bf5c70d2e2 docker: fixed copy of ros_entrypoint.sh 2023-06-05 08:24:07 -07:00
matlabbe
7f7609075f docker: fixed humble->jammy 2023-06-04 21:04:21 -07:00
matlabbe
cf49ebf238 Split ros2 docker images into 2 jobs for easier maintenance 2023-06-04 21:01:24 -07:00
matlabbe
879f0f6941 Merge branch 'alphascaling' of https://github.com/borongyuan/rtabmap into borongyuan-alphascaling 2023-06-04 16:14:24 -07:00
matlabbe
af481fc730 docker/foxy: re-enabled opencv 2023-06-04 16:12:43 -07:00
matlabbe
1b67d6a86a Triggering focal-foxy docker 2023-06-01 19:38:15 -07:00
Borong Yuan
31d975acd5 Add alphaScaling option 2023-05-31 22:15:16 +08:00
Borong Yuan
54c68f8e6c Updated disparity reprojection to account for cameras with different Fx and Fy values 2023-05-31 19:40:29 +08:00
Borong Yuan
aedfcdc576 alphaScaling test 2023-05-30 18:16:28 +08:00
matlabbe
bfc4e939d1 Docker: updated ros2 base image to support arm64 2023-05-29 23:24:47 -07:00
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
matlabbe
d88c816ca1 Merge branch 'borongyuan-master' 2023-05-29 18:12:25 -07:00
matlabbe
5b1c9e7233 IMU board fix for original OAK-D 2023-05-29 17:02:53 -07:00
Borong Yuan
8d6c809c3c Update data sync implementation for DepthAI 2023-05-27 21:28:43 +08:00
Borong Yuan
52e417c313 Set IMU extrinsics to left camera optical frame 2023-05-25 12:19:07 +08:00
Borong Yuan
5592a1ebfe Update IMU local transform 2023-05-25 00:01:55 +08:00
Borong Yuan
42fbdda567 Merge branch 'introlab:master' into master 2023-05-23 10:08:21 +08:00
matlabbe
ae3fda37a9 Fixed not invertible error ofter wrong graph optimization (seen on localization mode, gtsam returning inf poses) 2023-05-22 17:56:59 -07:00
Borong Yuan
ffd89ead86 Get baseline using sdk method 2023-05-22 22:06:45 +08:00