matlabbe
b44dd537a7
Ouster SDK integration
2024-08-17 18:23:20 -07:00
matlabbe
4911dbe9bb
With Mem/RotateImagesUpsideUp=true, do not clear features if none of the cameras are rotated. DBViewer: show local transform of all cameras in tooltip
2024-08-12 14:27:08 -07:00
matlabbe
cc5da376ec
Fixed https://github.com/introlab/rtabmap_ros/issues/1187
2024-07-27 12:12:49 -07:00
matlabbe
f5a477f0f4
Charuco calibration + depthai calibration support ( #1302 )
...
* In progress: adding charuco option
* DepthAI: added raw image publishing mode (added support rtabmap's calibration file). Calibration: working charuco board calibration (on opencv 4.5).
* fixed build with Qt<5.14
* Updated calibration options
* Removed depthai flashing delays
* depthai: fixed camera not detected as calibrated in Mono-depth mode. Calibration: added option to scale sampling factor.
2024-06-30 17:11:37 -07:00
matlabbe
1611aa14f6
fixed typo
2024-06-25 13:21:02 -07:00
matlabbe
7d970ef020
Fixed DBReader odometry ignored
2024-06-25 12:04:37 -07:00
matlabbe
4c1822683a
Added new parameter: RGBD/AggressiveLoopThr
2024-06-19 10:28:17 -07:00
matlabbe
7c601bb6e8
Fixed #1300 (proximity sort by distance)
2024-06-16 11:11:39 -07:00
matlabbe
0d221a806f
Update behavior of Odom/AlignWithGround when odmetry is already aligned with gravity (just update z value).
2024-06-15 17:24:00 -07:00
Adam Serafin
c58fffe56d
Add flags for OpenNI ( #1299 )
...
* update openni defines
* minor fix
* fixed build + minor changes
---------
Co-authored-by: matlabbe <matlabbe@gmail.com >
2024-06-15 14:12:07 -07:00
matlabbe
2a840fe340
Fixed https://github.com/introlab/rtabmap_ros/issues/1173 (edited optimized map regenerated in localization mode)
2024-06-09 20:46:51 -07:00
matlabbe
80a4ce02c9
Fixed build without xvisio sdk, Added xvisio camera option in main menu.
2024-06-09 11:13:29 -07:00
matlabbe
8310925c81
Calibration tool: added support for rational model (8 coeff)
2024-06-09 10:20:18 -07:00
matlabbe
99cb02fdff
ORB_SLAM3: fixed error if left image is color. SensorCaptureThread: stop thread if data cannot be captured (e.g., end of dataset) instead of skipping indefinitly with error log.
2024-06-09 10:20:18 -07:00
Borong Yuan
a327c9530c
add XVSDK VIO
2024-06-03 10:28:45 +08:00
Borong Yuan
fc9dcd6b3d
rectify xvDepthColor
2024-05-30 19:41:48 +08:00
Borong Yuan
0ad1d0ad69
add CameraSeerSense to guilib
2024-05-30 16:55:37 +08:00
Borong Yuan
ce0c806d75
add CameraSeerSense methods
2024-05-29 19:41:14 +08:00
Borong Yuan
fb37b3adba
add xvDepthColor
2024-05-28 17:08:49 +08:00
Borong Yuan
3d5f1ad5c2
add xvImu
2024-05-24 23:12:16 +08:00
Borong Yuan
41a7eff8fa
init CameraSeerSense
2024-05-23 20:51:13 +08:00
Borong Yuan
fbeabf0751
Add ANMS (SSC method) ( #1276 )
2024-05-19 18:21:00 -07:00
matlabbe
995f65b2ec
Added parameter Rtabmap/VirtualPlaceLikelihoodRatio to select how likelihood is normalized/adjusted (0=default old approach used in paper).
2024-05-19 17:46:00 -07:00
matlabbe
c034a9631c
Merge branch 'likelihood_experiment' of https://github.com/borongyuan/rtabmap into borongyuan-likelihood_experiment
2024-05-19 14:57:58 -07:00
matlabbe
256dcbded4
Added script to reproduce results from loop closure detection paper. Added option to show Recall at 100% precision directly from rtabmap-console. Fixed retrieval not working on loop closure detection mode-only. Fixed showLogs.m error with Octave.
2024-05-19 14:54:37 -07:00
matlabbe
72d7418011
Fixed build with pcl<1.8
2024-05-12 19:13:05 -07:00
Borong Yuan
f3cfa7831d
adjust likelihood using z-score
2024-04-28 12:22:26 +08:00
matlabbe
27dea71398
Apply fix from #979
2024-04-15 20:51:50 -07:00
matlabbe
700704bec9
LiDAR capture support in standalone library ( #1264 )
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* Working rtabmap_lidar-mapping example (live and pcap)
* finalizing merge, added some deprecated
* fixed build
* Working deskewing for Lidar + Camera/IMU (no camera pose correction yet) and Lidar + Odom Sensor in main UI.
* backward compatibility
* fixed some not used variable warnings, fixed qt build for lidar mapping example
* Refactored CameraMobile, added AREngine background support, fixed LidarVPL16 build error with PCL 1.8
* ARCoreJava: buffer last depth image in case its stamp i higher than pose stamp. CameraMobile: added pose buffer. SensorCaptureThread: to get pose, odomSensor should be explicitly set, but can be same as lidar or camera inputs.
* Working external lidar on iOS
* util3d::commonFiltering()/adjustNormalsToViewPoint() added organized cloud support. MainWindow: updated odomSensor setup
* fixed winsock include order
* reverted camera tool
* disable imu filtering when odom sensor is used
* Updated package version
* fixed windows build
* fixing more windows build erros
2024-04-14 19:06:04 -07:00
matlabbe
6a6913c939
Fixed #1262
2024-04-13 16:42:58 -07:00
Borong Yuan
a55b4203cd
copy global descriptor ( #1263 )
2024-04-13 14:56:28 -07:00
matlabbe
5ed1bf0ca8
GlobalDescriptor (PyDescriptor / netvlad) ( #1163 )
...
* First commit for pydescriptor
* Fixed Python refactoring errors
* GUI: added PyDescriptor parameters
* reordered python3 includes
* updated rtabmap_netvlad.py test main
* fixed build from last merge
* integrated https://github.com/introlab/rtabmap/pull/1255
* rescaled dot product result
Closing https://github.com/introlab/rtabmap/issues/1105
2024-04-07 15:48:16 -07:00
matlabbe
c33e995e83
Landmark constraints can now be rejected (in case we see same landmark at two different spots or constraint is poorly estimated). Optimizer/Robust can now be used with landmark constraints with orientation.
2024-04-06 13:41:03 -07:00
matlabbe
92edae35fc
Fixed map empty on start if there is no global loop closure yet in localization mode when RGBD/OptimizeFromGraphEnd is true
2024-04-06 11:46:26 -07:00
matlabbe
9cb0046734
fixing build with gtsam 4.0
2024-04-02 15:32:04 -07:00
matlabbe
76f63ab79a
Fixing build with gtsam 4.2
2024-04-02 13:29:51 -07:00
matlabbe
063ca9c8ee
fixed gtsam 4.3 build error ( https://github.com/introlab/rtabmap/pull/1033#issuecomment-2031002034 )
2024-04-01 23:05:16 -07:00
matlabbe
8612ebba93
fixed https://github.com/introlab/rtabmap_ros/issues/1134
2024-03-31 13:06:52 -07:00
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
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 )
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* 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
7183b43c2a
missed part from last commit
2024-03-23 14:34:54 -07:00
matlabbe
79dc180bf4
Fixed Odom/ResetCountdown not resetting anymore if next frame is also bad.
2024-03-17 17:19:08 -07:00
matlabbe
e299505a64
Fixed ORB_SLAM3 config for stereo mode
2024-03-12 23:13:06 -07:00
matlabbe
2577c47e77
Fixed #1232
2024-03-09 15:14:01 -08:00
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
8019a2dc49
Fixed #1227
2024-03-02 16:17:10 -08:00
Long Vuong
752ca76cf5
not limitKps inside Feature2D::generateKeypoints when using pyDetector ( #1223 )
...
* not limitKps when using pyDetector
* update with upstream
---------
Co-authored-by: Long Vuong <vuong@wheel.me >
2024-02-26 15:21:15 -08:00
matlabbe
a11ea291d8
Fixed #1211
2024-02-10 18:27:02 -08:00
Borong Yuan
1bd2d9fe81
superpoint torch using simple nms ( #1213 )
2024-02-10 13:54:20 -08:00
