matlabbe
5f1eccb2cd
Odom F2M always report 9999 when lost ( #1589 )
2025-10-02 09:07:58 -07:00
matlabbe
11577fb553
When external guess is provided, don't report lost for the first ever frame (only on reset). Updated Odom/ResetCountdown description. ( #1588 )
2025-10-01 10:27:24 -07:00
matlabbe
05f077b950
Fixed auto reset identity jump. If external guess, do not report lost on recovery after auto reset. ( #1587 )
2025-09-30 16:22:54 -07:00
matlabbe
0f37bafd66
Added source odometry guess option in standalone app
2025-09-28 16:31:42 -07:00
matlabbe
a552bdfb2f
GUI: Support Optimizer/Robust with RGBD/OptimizeMaxError at the same time. DBReader: fixed repeated odom covariance when Mem/ReduceGraph is used. Memory: avoid error msg when receiving frames without features while we expect odometry features. See also #1573
2025-09-24 23:24:32 -07:00
matlabbe
c774ef641a
rgbd_dataset: added support for rgbd_bonn ground truth format
2025-09-20 18:08:38 -07:00
matlabbe
cb0cc9ed18
VINS Fusion overhaul ( #1580 )
...
* Updated correct focal length used by VINS, updated VINS visualization.
* Renamed OdometryVINS to OdometryVINSFusion
2025-09-14 19:29:28 -07:00
matlabbe
6a435c968f
reorganized includes (added SYSTEM keyword) ( #1578 )
2025-09-13 15:58:40 -07:00
matlabbe and Mathieu Labbe
4603f09389
Loading time optimization ( #1569 )
...
* On init, rebuild the dictionnary only once
* Fixed first dictionary update to avoid rebuilding multiple times. Commented some very verbose debug logs (should create a new level: UVERBOSE or UTRACE)
* bump version 0.23: added parameters "Mem/LoadVisualLocalFeaturesOnInit", "Mem/FlannIndexSaved", "Kp/SerializeWithChecksum".
* Renamed Mem/FlannIndexSaved to Kp/FlannIndexSaved. Update UI Preferences with new parameters.
* commented some very verbose debug logs
* Warn flann index serialization not implemented on windows
* Warn flann index deserialization not implemented on windows
* Removing some verbose logs
* missing header (win32)
* Added GlobalMap::fullUpdateNeeded() function
* Adding log
* Save flann index even if links changed
* log time to serialize flann index
* Make dictionary modified only after we update
---------
Co-authored-by: Mathieu Labbe <[email protected]
2025-09-03 16:55:54 -07:00
matlabbe
7d1a987d5d
Planning: fix robot stuck when RGBD/LocalRadius is smaller than a link on the planned path.
2025-08-07 21:16:40 -07:00
matlabbe
8328b22c3f
depthai: Adding assert for min expected coeffs
2025-08-04 19:40:52 -07:00
Borong Yuan
330fda6522
Minor correction on using tilted sensor model for OAK camera
2025-07-29 14:09:42 +08:00
matlabbe
94e31dcad1
Windows: fixed missing exported symbols (PythonInterface)
2025-07-13 04:15:03 -07:00
matlabbe
1dda2c72f0
Passing tests on fical
2025-07-08 05:31:00 +00:00
matlabbe
276974c656
Merge branch 'master' of github.com:introlab/rtabmap into gtest
2025-07-07 21:25:33 -07:00
matlabbe
f64c56a2cb
Added doc for CameraModel and StereoCameraModel
2025-07-07 21:25:11 -07:00
matlabbe
e5655b0b96
Fixed #1549
2025-07-06 23:08:47 +00:00
matlabbe
d30e76bc7a
Added Transform and VisualWord tests
2025-07-06 13:23:13 -07:00
matlabbe
b8d253129c
minimal util3d_surface.h
2025-07-06 12:02:09 -07:00
matlabbe
d558c3a93b
finished util3d_motion_estimation.h tests
2025-07-06 11:01:37 -07:00
matlabbe
3c5c00456b
Added util3d_motion_estimation.h tests (2D->3D done)
2025-07-05 20:42:32 -07:00
matlabbe
7a7c33dd14
finished testing util3d_mapping.hpp
2025-07-05 13:05:35 -07:00
matlabbe
45f342cb41
Merge branch 'master' of github.com:introlab/rtabmap into gtest
2025-07-05 09:37:08 -07:00
HO4X
2fdd2337c7
TASK: Remove typo in ceres optimizer branch ( #1544 )
2025-06-30 10:39:53 -07:00
matlabbe
963ba42a1a
OdometryThread: Updated logic on how to sync imu and sensor data (to make sure odom has always all IMUs it needs prior to process images)
2025-06-29 17:00:12 -07:00
matlabbe
442a868929
added doc/gtest for util3d_mapping.h (missing hpp functions)
2025-06-22 18:45:43 -07:00
matlabbe
114f673ec2
added doc/tests for util3d_correspondences.h
2025-06-22 15:04:03 -07:00
matlabbe
3ca3c37ee7
Added util3d_features.h doc/tests
2025-06-22 12:43:13 -07:00
matlabbe
cb6cdcae90
Added util3d_registration tests
2025-06-21 20:12:02 -07:00
matlabbe
9335b9d816
added test for util2d::depthBleedingFiltering
2025-06-21 13:55:14 -07:00
matlabbe
7b1f37b8ee
Merge branch 'master' of github.com:introlab/rtabmap into gtest
2025-06-21 13:45:01 -07:00
matlabbe
0536ddf0c9
Fixed loadOptimizedMeshQuery() when the TextureMesh has more than 1 texture. ( #1538 )
2025-06-17 20:16:53 -07:00
Petar Velev
db59344007
Fixed a typo with SuperPoint ( #1535 )
2025-06-15 12:39:52 -07:00
matlabbe
332dde6d74
Fixed icp_odometry freezing
2025-06-07 16:47:40 -07:00
matlabbe
6d4e8a4173
New feature: Depth confidence ( #1520 )
...
* New feature: Depth confidence
* iOS app updated to save depth confidence, added util2d::depthBleedingFiltering function
* Updated tools to show/extract depth confidence
* Android: moved smoothing in post-processing, fixed confidence registration, added depth bleeding error option.
* Fixed warning
* removed debug log
* Added new feature types, fixed rendering when exporting texture >4096 (#1469 ), added depth bleeding filter option to iOS
* fixed some warnings, android: added bleeding error option
* CI: try updating ros2 key
* added sudo
* antoher test
* bump ios app version
2025-06-01 14:14:29 -07:00
Torjus Iveland and matlabbe
683a1dc554
Handle edge case when SuperPoint detects only 1 keypoint ( #1509 )
...
* Handle edge case when SuperPoint detects only 1 keypoint
* missing normalize
---------
Co-authored-by: matlabbe <[email protected]
2025-05-24 15:38:44 -07:00
matlabbe
478e909742
Fix 6DoF graph angular check ( #1511 )
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* Fix 6DoF graph angular check
* Updated getAngle to use better version
2025-05-24 13:25:26 -07:00
matlabbe
c776b9f056
finished util3d_filtering doc and tests
2025-05-20 20:22:39 -07:00
matlabbe
40f965d1d7
Added more doc/tests
2025-05-18 20:14:33 -07:00
matlabbe
879da2a0a7
Merge branch 'master' of github.com:introlab/rtabmap into gtest
2025-05-18 16:14:48 -07:00
matlabbe
802b8f9870
Add/Refine/SBA: create Registration only once to avoid internal initialization for every link refined, added or rematched (e.g., SuperPoint or SuperGlue).
2025-05-17 16:34:31 -07:00
matlabbe
f03139d4ff
Update rtabmap_superpoint.py
2025-05-17 14:20:39 -07:00
matlabbe
96f8466fa7
Update rtabmap_superpoint.py
2025-05-17 14:16:13 -07:00
matlabbe
a3d4028faa
Camera projection: Added max depth error option to colorize more points
2025-05-10 18:20:29 -07:00
matlabbe
8d3b78e760
util3d_filtering.h: more tests and doc
2025-05-04 16:17:36 -07:00
matlabbe
79dec73030
util3d_filtering.h: started doc and test
2025-05-03 17:33:01 -07:00
matlabbe
61d9171844
util3d_transforms.h: Added doc and tests
2025-05-03 13:10:34 -07:00
matlabbe
30b9f20bbd
Merge branch 'master' of github.com:introlab/rtabmap into gtest
2025-05-03 11:47:56 -07:00
matlabbe
087a2cecd8
New parameter: RGBD/LocalizationSecondTryWithoutProximityLinks ( #1499 )
...
* Added parameter RGBD/LocalizationSecondTryWithoutProximityLinks
* Statistics: added new stat to know when proximity links are removed after a successful second loc try
* changed kLoopProximity_links_cleared for a count instead of bool
* Updating odomCachePoses with optimization for better visualization
2025-05-02 10:35:31 -07:00
matlabbe
26f036173d
export: fixed texture_depth_error=-1
2025-04-29 21:50:11 -07:00
matlabbe