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3,281 Commits 29 Branches 163 Tags
a0476af896f43361124be875925114305766b415
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1360 Commits

Author SHA1 Message Date
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
3b735907c8 DbViewer tool: added database's parameter overriding from arguments 2024-03-29 13:30:12 -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
2f132b3a40 GUI: adjusted max limit of Optimizer/Epsilon 2024-03-19 16:34:11 -07:00
matlabbe
d0227694c5 small fix for qt6 2024-03-13 22:52:44 -07:00
matlabbe
a6d9425bce DBViewer: support doubleclick on node or link in graphview to update correpsonding image view and constraints view, also added "Show pixel depth" menu option in ImageView to show pixel depth and pixel coordinate in map frame. 2024-03-13 22:42:47 -07:00
matlabbe
52e1b01597 Fixed assert when exporting textured mesh with both multiband and blending enabled with grayscale images 2024-03-04 17:05:17 -08:00
matlabbe
33b875ecbf GraphView: fixed mouse cursor tracking inverted x-y values 2024-03-01 10:13:53 -08:00
matlabbe
c24f95a8d9 ExportCloudsDialog: added option to filter off-axis points 2024-02-29 16:19:57 -08:00
matlabbe
6f7e5cc97b Removed RGB option from main menu (#640) 2024-02-26 19:06:39 -08:00
matlabbe
fccf33dd96 GraphViewer: added "Show mouse cursor position (m)" context menu option. 2024-02-26 17:13:50 -08:00
matlabbe
ff7c8af56f Mac: fixed cloud viewer pushed back behind main window after dialog closes 2024-02-18 13:43:52 -08:00
matlabbe
510aef19e4 Added Vis/PnPSplitLinearCovComponents parameter (default false -> same as before) 2024-02-07 14:43:16 -08:00
matlabbe
1dadd50cf2 cmake: added VTK_GLOBAL_WARNING_DISPLAY option (default off) for VTK>=9 (https://github.com/introlab/rtabmap_ros/issues/1111) 2024-02-03 17:04:48 -08:00
matlabbe
c27507bc77 Added missing Open3D status in --version and About. 2024-01-27 15:20:10 -08:00
matlabbe
10de748531 DatabaseViewer: Fixed seg fault on Mac when opening db 2024-01-21 13:05:02 -08:00
matlabbe
13cd5e7a5e Export Poses: Added support of landmarks. Fixed g2o export with 6DoF landmark constaints. Adjusted g2o export landmark id. (#1199) 2024-01-20 12:04:26 -08:00
matlabbe
b7239fdc84 Added parameter Mem/RotateImagesUpsideUp 2024-01-10 14:54:55 -08:00
matlabbe
a0559b156b Fixed #1196 2024-01-06 16:11:25 -08:00
matlabbe
79db6b2811 Fixed warning with vtk 7.1. Dont add target "uninstall" if already added from some cmake dependencies 2024-01-03 18:08:06 -08:00
matlabbe
d135ef02e2 DBViewer: updated refine constraints menu action with more options, DBDriver: added updateCalibration for convenience 2023-12-20 14:39:49 -08:00
matlabbe
ee09e92496 Fixed build on xenial, VTK<=7. 2023-12-19 19:39:50 -08:00
matlabbe
933d26f005 DbViewer/info tool: Updated number of links to report unique links. Added statistics about length of loop closures in info tool. 2023-12-18 16:27:18 -08:00
matlabbe
71415992ac GridMap integration (#1180) 
* GridMap integration

* Removed GridGlobal/FullUpdate parameter. Bump version 0.21.3. Mvoed specialized global map classes under global_map sub dir. Renamed Map -> GlobalMap.

* UI: Added elevation map visualization

* Added LocalGridCache class to share cache between global maps

* Fixed OctoMap nans. DbViewer: Added frontiers visualization.

* convenient functions for ros

* Small fix

* fixed build without GridMap

* CI disabled fail-fast

* CI updated checkout action to v4
 2023-12-17 22:44:11 -08:00
Borong Yuan
45392fcfc6 Add RGBD mode for OAK camera (#1179) 
* update depthai params

* add color+depth mode

* workarounds to avoid performance issues
 2023-12-14 09:59:35 -08:00
matlabbe
be3e6c538c Adding util3d::cloudsFromSensorData to be able to show in DBViewer individual clouds for each camera (#1182) 
* splitting multicam generated clouds

* make sure returned cloud is valid (can be empty)
 2023-12-13 12:15:29 -08:00
matlabbe
f56875db4a Preferences: Fixed recursive param update bug 2023-11-29 05:28:30 -08:00
Borong Yuan
07c24e95ba start outputting data after static initialization (#1171) 
* start outputting data after static initialization

* restore pixel noise to 1
 2023-11-28 13:20:45 -08:00
matlabbe
a1d43d2353 Remove default AUTOUIC=ON from all non-ui targets. Fixed yaml target not added correctly on Vcpkg. Fixed gui odom processing time. 2023-11-19 19:40:20 -08:00
matlabbe
aaff1abc4f Updating orbslam3 v1 support (#1152) 
* Refactoring ORB_SLAM3 integration. Fixed realsense2 inter IMU stamps.

* Renamed OdometryORBSLAM -> OdometryORBSLAM2

* revert a change

* Fixed build without orb_slam

* Source camera: added feature detection option

* Fixed jfr2018 docker files
 2023-11-19 01:05:52 -08:00
matlabbe
4812ce4eaf Optimizer: fixed some constraints between same nodes with different type ignored. GraphViewer: fixed display of links between same nodes with different type 2023-11-12 17:14:17 -08:00
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
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
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
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
Borong Yuan
afd10b1aa6 add histogram equalization (#1137) 2023-09-21 15:46:10 -07:00
cdb0y511
49daa211ea use CMAKE_AUTOUIC, CMAKE_AUTOMOC and CMAKE_AUTORCC (#1135) 2023-09-14 08:25:00 -07:00
matlabbe
fa4a2eb5e3 Fixed build on 22.04 caused by 9e86faa4ad 2023-09-07 10:29:18 -07:00
matlabbe
9e86faa4ad GraphView: added right-click option to export 2d grid map directly from the view 2023-09-07 09:10:04 -07:00
matlabbe
424dc90dce Added Vis/PnPVarianceMedianRatio parameter (to tune pnp computed covariance) 2023-07-27 16:13:30 -07:00
matlabbe
3feb03cf35 Added Vis/PnPSamplingPolicy parameter (opengv "multi" ransac) 2023-07-22 11:05:21 -04:00
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
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
55a84cfdaa add depthai superpoint detector 2023-06-17 16:53:25 +08:00
matlabbe
f75839294a Fixes for rtabmap_viz info sub only (with local cache) 2023-06-16 16:30:07 -07:00
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
d3facb1a84 Added alpha=-1 option 2023-06-05 18:59:59 -07:00