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3,372 Commits 29 Branches 163 Tags
b44dd537a78d769817e1cca49b21dbeab85e7a07
Commit Graph

1909 Commits

Author SHA1 Message Date
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
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
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
Borong Yuan
937e9fbb3b Advanced parameter tuning for depth quality optimization 2023-05-22 20:29:44 +08:00
Borong Yuan
9ecf71e5ed Update DepthAI camera model 2023-05-22 18:37:08 +08:00
Borong Yuan
ff83b14b49 Add options to enable IR featues on OAK Pro models 2023-05-18 01:48:38 +08:00
matlabbe
682d54725a Fixed build with gtsam 4.3.0 (#1033) 2023-05-14 13:14:53 -07:00
matlabbe
ba33c080bc Added RGBD/LocalizationSmoothing parameter and fixed related issues (#1032) 
* removed code

* added landmark in graph optimization checks

* reverted smoothing, only if there is already a previous localization link

* Added RGBDLocalizationSmoothing parameter

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml

* Update .appveyor.yml
 2023-05-14 13:03:52 -07:00
matlabbe
e54195c47f ZED SDK 4 support (#1013) 2023-04-16 18:47:15 -07:00
matlabbe
e300d4c5c1 Added IMU support for camera images source with odom approach not supporting async imu 2023-04-16 17:32:32 -07:00
matlabbe
8b8a512cbb Added Icp/ReciprocalCorrespondences (new default true) 2023-04-06 20:57:35 -07:00
matlabbe
c4e94bcdc3 fix comment removed 2023-03-22 22:20:09 -07:00
matlabbe
85cc6fe3c7 fixed build with latest g2o c++17 (#999) 2023-03-22 20:42:33 -07:00
PonyPC
50a0961f4e Update OdometryORBSLAM.cpp (#991) 
Fix RGBD with ORB SLAM
 2023-03-20 19:35:39 -07:00
matlabbe
a406c37750 gtsam: Fixed metis linker errors on windows. Ceres: updated default solver options (working for BA and pose-graph optimizations, fixed #966) 2023-03-19 13:30:52 -07:00
matlabbe
1cb7f3fb87 octomap: fixed regression on ubuntu 16.04 2023-03-18 14:36:30 -07:00
matlabbe
ab99719a78 octomap: use cmake target (#995) 2023-03-18 14:19:16 -07:00
matlabbe
e3b7e9378d integrating c++17 fixes from #959 (ref:https://github.com/flann-lib/flann/pull/392), fixed pop_t error (b6e37553de) 2023-03-16 17:48:40 -07:00
matlabbe
6fe5e6375f Fixed g2o version not correctly used, D400: set default to IR+Depth 2023-03-13 22:10:24 -07:00
matlabbe
53025bf059 Update for windows release: added FindEigen3.cmake so that g2oConfig.cmake can find Eigen3 not using targets from PCL install, hiding console when creating a bundle app in windows, disabled vtk console 2023-03-13 03:10:16 -07:00
matlabbe
731d73b798 CMake Config: added "rtabmap::" prefix for all rtabmap's targets, provide RTABMap_TARGETS list (used by ROS2/ament to detect modern cmake packages). 2023-02-22 23:07:30 -08:00
matlabbe
c7f49134eb DBReader: fixed GUI freezing when consecutive stamps in loaded frames are very far apart. 2023-02-18 14:37:43 -08:00
matlabbe
89e3e10d89 Refactoring RTABMapConfig.cmake with targets (#904) 
* Config: Using cmake targets

* fixed RTABMAP_DEPRECATED build error

* fixed melodic build

* cleanup

* Fixed qhull exported library error

* Update svg depend private

* removed g2o from public interface

* Fixed Windows with external project

* removed some required dep

* Fixed nsis error (also fixed unspecified components)

* updated workflow rules
 2023-02-12 16:18:01 -08:00
matlabbe
437ed09335 DBReader: added ignore priors option (added to gui and reprocess), Statistics: added info about distance/angle of the localization, RegVis: fixed inliers mean distance on multicam setup, About: added MRPT info 2023-02-10 17:29:10 -08:00
matlabbe
59d220c54f k4a: fixed playback fps and imu handling 2023-02-08 21:15:16 -08:00