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e56e0c37f767987cd02407a0be28f0f40696768b
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1826 Commits

Author SHA1 Message Date
matlabbe
e56e0c37f7 Fixed https://github.com/introlab/rtabmap_ros/issues/1024 2023-09-04 11:55:52 -07:00
cdb0y511
6a5b844bac fix for Undefined symbols for architecture x86_64: "Nabo::NearestNeighbourSearch (#1117) 
related to https://github.com/ethz-asl/libpointmatcher/issues/514
employ fix from https://github.com/ethz-asl/libpointmatcher/pull/513
 2023-08-27 13:36:49 -07:00
Borong Yuan
61dbe51ee3 Update OAK stereo config and IMU rate (#1116) 
* update OAK stereo config and imu rate

* enable brightness filter
 2023-08-19 16:29:05 -07:00
matlabbe
cdd8cd9e34 ICP/intensity: Applying fix from #1111 2023-08-13 14:58:15 -07:00
matlabbe
ba5579f063 Only remove compressed raw data when publish data is false (keep features/occupancy grid) 2023-08-11 16:31:26 -07:00
matlabbe
6395487b58 Stats: distance from last localization not increasing if small motion 2023-08-10 15:17:15 -07:00
Borong Yuan
f0ba56bf5e fix ros gtsam 4.2a9 build (#1108) 2023-08-07 07:33:23 -07:00
matlabbe
d25bb758ca Merge branch 'msckf_vio_update' of https://github.com/borongyuan/rtabmap into borongyuan-msckf_vio_update 2023-07-30 11:43:06 -07:00
matlabbe
424dc90dce Added Vis/PnPVarianceMedianRatio parameter (to tune pnp computed covariance) 2023-07-27 16:13:30 -07:00
Borong Yuan
5d6875ed98 change for initial frame update 2023-07-24 21:10:55 +08:00
matlabbe
3feb03cf35 Added Vis/PnPSamplingPolicy parameter (opengv "multi" ransac) 2023-07-22 11:05:21 -04:00
matlabbe
a593b0d525 Merge branch 'guoqingz/multi_noncentral' of https://github.com/guoqingzh/rtabmap into guoqingzh-guoqingz/multi_noncentral 2023-07-21 11:35:26 -04:00
matlabbe
e8b54de94a CameraDepthAi: Fixed buffered frames 2023-07-21 09:10:06 -04:00
Borong Yuan
f9719c197d disparityToDepthUseSpecTranslation is enabled by default as recommended 2023-07-20 00:28:36 +08:00
Borong Yuan
d391f237eb update imu callback 2023-07-17 23:35:03 +08:00
Borong Yuan
0b4f5d2925 remove unnecessary conversion function 2023-07-17 17:00:43 +08:00
Borong Yuan
7d2272beb3 fix ProtocolToStr() visibility 2023-07-17 10:09:49 +08:00
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