matlabbe
fcfadfe489
sql: use single quoted strings #1436
2025-02-01 14:19:41 -08:00
matlabbe
6aa188d2af
g2o: fixed iterative optimization (when epsilon>0) not converging as fast as like batch optimization (and not converging at all in some cases).
2025-01-27 14:20:41 -08:00
Borong Yuan
3ab9a69fbb
fix build with ceres<2.1 ( #1437 )
2025-01-19 13:58:07 -08:00
matlabbe
7baf435600
Fixed #1439
2025-01-19 13:39:17 -08:00
matlabbe
853f603898
OptimizerGTSAM: keep iterating even if error is very large (aarch64 issue), but only when Optimizer/Epsilon is 0.
2025-01-17 10:31:06 -08:00
matlabbe
f8b1d50656
Fixed #1434 (gtsam very huge error estimated on aarch64), also decreased log level of voxel filtering to debug.
2025-01-09 16:57:51 -08:00
Borong Yuan
89849ae245
add support for RVL depth image compression ( #1409 )
...
* add rvl_codec
* add support for RVL deep image compression
* DBViewer: edit depth re-using same compression format than the one in database.
* Fixing windows ci
* 💄
* missing dll export (windows)
* typo
---------
Co-authored-by: matlabbe <matlabbe@gmail.com >
2024-12-15 18:35:05 -08:00
matlabbe
02e30ffc69
Fixed #1413
2024-12-15 17:51:15 -08:00
matlabbe
97c56361f8
Export CLI tool memory optimization ( #1391 )
...
* Stashing changes so far
* Tested and working
* removed unused options
* Added density_radius and density_angle options
* improved description
* backward compatibility fixes, matching texture exported file names with base name
* Setting global full opt by default, updated preferences defaulting to g2o or gtsam if one or the other is unavailable
2024-12-15 13:08:15 -08:00
Johannes Schönberger
626bf64983
Support Ceres 2.1+ Manifolds in backwards-compatible manner ( #1405 )
...
* Support Ceres 2.1+ Manifolds in backwards-compatible manner
* d
* d
2024-12-14 10:27:21 -08:00
matlabbe
38cacb7978
Added floor filtering options for features extraction ( #1408 )
...
* Added floor filtering options for features extraction
* cleanup
2024-12-10 12:36:21 -08:00
matlabbe
a613998652
Updated cmake target for latest grid_map_core version
2024-12-08 09:58:37 -08:00
matlabbe
8a26f42687
0.21.9: Grid's noise filtering only done on indices below Grid/RangeMax (when set). We can then keep very far points that would be filtered otherwise, which are useful for ray tracing.
2024-11-28 20:58:40 -08:00
matlabbe
cbd3995b60
Applying suggestion of #1388 ( #1390 )
2024-11-23 20:17:39 -08:00
matlabbe
a584245029
Fixed all -Wtype-limits warnings
2024-11-15 14:13:13 -08:00
matlabbe
fd27380be7
CudaSift: switch to SIFT CPU if no cuda devices were found (instead of asserting).
2024-11-12 15:00:19 -08:00
matlabbe
6b313257f2
Reg/OpticalFlow: fixed missing pt reprojection for last camera
2024-10-30 14:14:29 -07:00
matlabbe
8b21c27f5f
Adding FOURCC usb camera support ( #1366 )
...
* Adding FOURCC usb camera support
* Improved warnings
* more checks and warnings
2024-10-27 18:09:07 -07:00
Borong Yuan
2454b04f1f
Sort keypoints before SSC ( #1364 )
...
* Sort keypoints before SSC
* avoid using vector<bool>
2024-10-26 14:44:22 -07:00
matlabbe
465ea85d91
Removed grid_map as public dependency
2024-10-08 20:01:38 -07:00
matlabbe
595f200a89
iOS various updates ( #1340 )
...
* Added Data Recording Mode. Added option to filter ARKit localization jumps.
* Implemented max acc relocalization filtering (working on iOS)
* Fixed android build, added re-localization max acceleration parameter
* ARCore Java: Fixed pose of depth not available at stamp requested
* Android log fix
* Added libLAS support
* ios: added LAS support
* updated dep install script to skip libraries already installed
* CameraMobile: Fixed origin not updated if updateOnRender() is used
* Default max opt error increased to 2x to reduce number of loop closures rejected. OptimizerGTSAM: updated gravity noise model to use same sigma for both parameters.
* Updated license
* bump 0.21.7
* updated license date
2024-10-06 17:16:22 -07:00
matlabbe
8c0e57bc52
Landmark poses can be exported with format=11. Report: added option poses_raw to export poses not aligned with ground truth (default it is).
2024-09-22 19:53:27 -07:00
matlabbe
379e11bd66
Supporting GTSAM bearing/range factors for landmarks ( #1346 )
...
* Supporting GTSAM bearing/range factors for landmarks
* refreshing initial covariance after being modified in same sessions
2024-09-21 18:14:52 -07:00
matlabbe
0e85bd849c
Improved image view scene rect size when no images are there. Added warning when transform cannot be computed because some data are missing.
2024-09-16 15:55:38 -07:00
matlabbe
69ac21f811
Adding OpenCV's GPU GFTT/ OpticalFlow and CudaSift support ( #1330 )
...
* Adding GFTT and SIFT Cuda support
* Working CudaSift
* Disable cudasift option when not available
* Added check to avoid re-allocating gpu memory everytime parseParameters is called. Added workaround of to detect/ignore invalid descriptors
* Added SIFT/PreciseUpscale and SIFT/Upscale parameters. Adjusted max octave to behave more like opencv
* Refactored how maximum features are thresholded, to be more similar to OpenCV version
* Updated loop closure benchmark scripts
* Cuda optical flow tmp commit
* Added Stereo/Gpu Vis/CorFlowGpu parameters (optical flow gpu integration for F2F odom and stereo correspondences)
* Fixed build without opencv cuda
* Fixed build with Opencv 4.10
* ZED: updated parameters to match zed sdk 4
* MRPT requires C++17
* updated max octave limit CudaSift
2024-09-13 14:22:54 -07:00
matlabbe
11a8057246
LocalGrid: fixed overestimated local grid size when Grid/RangeMax is used
2024-09-04 11:39:38 -07:00
matlabbe
12e2caf7d1
removed debug comment
2024-09-01 15:39:01 -07:00
matlabbe
5580e78273
Fixed ZED driver timestamp. Re-ordered build include dirs to keep opencv in front. Fixed build with OpenCV 4.7.0.
2024-09-01 03:55:29 -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
