* Read-only localization mode
* Localization: don't update map's node timestamps if statistic after run are not saved
* Updated Mem/LocalizationReadOnly description
* Updated description of Kp/FlannIndexSaved
* rtabmap-rgbd_camera: added width/height options,
* using CameraViewer for visualization by default (use -pcl option for old visualization).
* CameraViewer: added capture and render rate.
* Note that non-TOF orbbec cameras could not be tested.
* update cuvslam api call to adhere to new v4.0 changes
* update comment
* parse cuvslam major version from the header and throw an error if theversion doesn't match the expected
* moving average filter + extensive debug logging
* lots more logs
* improvement by turning off use_motion_model in cuvslam config. lots of debug logs.
* slight improvements to velocity guard logic. lots of debug logs
* removing debug logs. working.
* let find_package_handle_standard_args handle the version comparison logic. Custom logic to handle newer then requested major version
* proper warning message if the major version doesn't match
* add back debug logs. Handle no guess transform case.
* adding warnings when no guess transform is provided
* clean up comments
* lowering average window to 5
* moderate odometry mode, 5 value averaging window
* adding comment
* add reset logs to investigate reset issue
* try returning guess or identity on init to avoid reset cascade
* disable motion model again
* big log when tracking
* remove some debug logs
* flag to use original covariance from cuVSLAM
* use raw covariance
* data collection for revised lost detection
* compare guess to estimated transform for lost detection
* re-enable motion model, it appears to reduce false-positives for the new lost detection
* run pose estimation afer init on first frame
* don't initialize if we don't have enough features
* dont warm up GPU everytime we reset
* low estimate velocity guard. Passes all challenges. Debug comments still everywhere.
* Remove debug logs. Add thresholds to header in a config section.
* Cleanup logs
* exposing multi-cam mode as a rtabmap param
* remove max frame delta
* change to use assertion instead of conditional
* replaced some UERROR by UWARN
---------
Co-authored-by: Felix Toft <felix@robust.ai>
Co-authored-by: matlabbe <matlabbe@gmail.com>
* Working IMU_RGBD and IMU_STEREO. Changing Inter IMU base frame is now possible.
* Output error msg when vocabulary path is wrong.
* Showing full local feature map
* Prioritize neighbor links in Optimizer::getConnectedGraph() to avoid odometry jumps.
* Fixed landmark order
* report: added search for first valid id
* Fixed non-neighbor comparison logic
* RGBD/LocalizationPriorError can now be 0 (disabled) to avoid using priors to fix the graph (https://github.com/introlab/rtabmap_ros/issues/1371)
* amend previous commit
* initial python implementation of superpoint rpautrat
* working python implementation of superpoint
* small tweaks to try and work around the GIL issue
* fix missing os import
* begging cpp impl of superpoint python model
* finishing cpp superpoint impl using the same SPDetector interface
* finalizing superpoint cpp impl, working with cpu but needs to be cleaned
* fixing feature matching by reworking nms and filtering logic
* speeding up nms with batched operations and cleaning up
* updating conversion script
* adding args for image dimensions and cuda usage to model tracer
* wiring up UI to parse superpoint params
* adding label to superpoint rpautrat ui
* reverting some unintended ui changes
* typo
* oneline revert
* removing nms and threshold filtering from cpp, this is handled internally by the superpoint model
* using python interface to run the superpoint _to_torchscript.py script at runtime
* generate and load model file on the first incoming frame
* reverting unintented change
* ui changes appear mysteriously again, reverting
* remove topk from model to prevent issue when number of detected keypoints is lower then the k value (scripting fails in this case)
* cleaning up for review
* change dest for model file and remove debug logs
* bump patch and add version comment
* rm unucessary comment
* use resources to load file to ensure it works when rtabmap isn't built from source
* execute with pybind runpy instead of system call
* only build superpoint rpautrat if we have torch and python support
* changing param to accept a path to the weights .pth file directly
* parse the default working directory to save the model file in
* rm extraneous change
* rm setters and re-initialize the detector whenever params change. We cannot support changing params after the model is constructed
* update UI text
* only enable superpoint rpautrat when built with python and torch
* more build information regarding superpoint rpautrat
* generate temporary python script in the working dir
* rm unecessary changes to rtabmap_superpoint.py
* fix comment and only add repo root to sys.path
* introduce a new parameter for the superpoint python model definition
* execute script from string instead of writing to a file
* wrap parse params in a single compiler directive
* remove descriptor spatial matching logic and rely on upstream RTAB-Map processes to take the top-K desc and kpts
* only add python script to resources if built with superpoint rpautrat support. supress warning with type casting
* isolate pybind11 setup so it can't affect any other modules or potential regnerations of the model file
* update about dialog to show superpoint rpautrat
* remove debug logs
---------
Co-authored-by: Felix Toft <felix@robust.ai>
* Orbbec SDK 2 integration (new CameraOrbbecSDK class)
* Added rectification option, fixed the build without orbbec sdk
* Fixed timestamp issue on Windows
* Removed WITH_ORBBEC_SDK=ON by default in case v1 is installed. Enabled inter imu when selecting orbbec sdk.
* requiring orbbec version=2 to avoid confusion
* Finalizing options
* integrating cuvslam, stereo cam initialization
* fixing transformations
* use isaac ros TocuVSLAMPose
* organizing
* handling covariance conversion
* cleaning up config
* moving cmake instructions to FindCuVSLAM.cmake file
* fixing ui integration
* updating software license for cuvslam
* improving memory management
* cleaning up header more
* reverting mistake in GUI
* using opaque pointers for header definitions, compiles
* back to typed definitions using forward-referencing
* fixing dangling pointer
* cleaning up
* fixing variable scope issues
* Using cuda to allocate gpu memory
* fixing transfrom from cuvslam back to ros coordinate frame
* reducing excessive logs
* removing redundant if true in cuvslam cmake
* moving find cuda into cuvslam cmake
* cleaning cmake to use modern target
* adding copyright line
* Finding tf2 and eigen3 in cmake
* simplifying clean up logic
* better logs
* moving cuvslam implementation methods into cpp
* fixing build with implmentation function declarations moved to the cpp
* cleaning transformation logic and adding grayscale support
* typo
* removing unecessary class member variable for processed images
* remove trailing underscore from initialize cuvslam function signature
* locally scoping config params since they are copied by cuvslam
* removing unecessary member variables and using locally scoped values since cuvslam seems to copy them
* more cleaning and refactoring
* fixing cmake inconsistancies and surpress warning
* fixing up baseline transform
* trying to remove tf2 for transformations
* fixing incorect baseline transform swap
* comment, begin reset logic investigation
* better handling of previous pose and transform during error cases
* hunting for reset bug, not found
* observation export implementatin, currently getting strange errors
* multi cam support
* Memory fixes
* comments
* make cuda stream a member variable so it isn't initialized and destroyed on every frame
* preparing to add ground constraints
* adding ground constraints, working
* adding wheel odom fusion into cuvslam tracker
* parsing parameter to apply planar constraints
* removing planar constraint in config, doesn't do anything
* using proper cuda stream type for member variable
* cleaning up for merge
* only parse params when cuvslam is compiled
* updating error message if using rgb-d instead of stereo
* removing wheel odom testing logs
* reverting bgr to rgb conversion
* fixing initial pose logic
* return null transform on invalid covariance
* debugging covariance
* guard against low velocity situations where cuvslam covariance spikes, but we aren't lost
* cleaning things up
---------
Co-authored-by: Felix Toft <felix@robust.ai>
Co-authored-by: matlabbe <matlabbe@gmail.com>
* 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 <mathieu@robust.ai>
* 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
* Using shadows on all texts and icons to see them better when background is white. Buffering database previews to show faster the Library. Updated how RAM usage is computed and now show max memory. Added warnings when RAM usage is low.
* Added measuring tool
* fixed map not shown when closing visualization
* Added measure text size setting, changed look and feel of point to point
* Fixed measuring point not showing
* Added fix for #1401
* Addressing #1407
* Export: Added colored OBJ options
* fixed index_t not existing on focal
* Fixed Settings not applied after restoring to all default settings witohut restarting the app (Marker detection not working issue #1455 )
* Marker detection: Fixing wrong depth used when rgb and depth image sizes cannot be divided exactly one from the the other #1455
* Added Marker Max Range option (default 1m)
* Added OBJ texture policy option (keep color on textureless polygons)
* Added texture/color blending option directly in the app. Added LAZ export option.
* Hiding measuring button if not mesh, dont zip if exporting to laz, updating Export XXX button based on the current context, fixed always blending texture/color on not visualization mode
* updated default marker max range to 2m
* bump ios app version
* fixing pcl 1.8.1 build
* fixed android build
* Reorganize DepthAI params
* Advanced Tuning of DepthAI’s SGBM Pipeline
* Update IMU Local Transform for OAK-D LR, OAK-D SR, and PoE Devices
* Reorganiz the usage of DepthAI. Get params before creating the pipeline, and automatically determine the resolution of different models.
* Identify the IMU type to specifically handle BMI270 and BNO085/086
* Added OdomF2M/BundleAdjustmentMinMotion and OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature parameters
* Added new odom stats localBundleMaxKeyFramesForInlier
* Adjusted how localBundleMaxKeyFramesForInlier is computed when OdomF2M/BundleAdjustmentMaxFrames is used.
* optimization: Dont compute average pixel distance if parameter is not used
* 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>
* 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
* 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
* 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
matlabbe